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merge=lfs -text diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/log.pkl b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/log.pkl new file mode 100644 index 0000000000000000000000000000000000000000..5e2859d6a2483ba03f5ab2c1d03fd320135de8c0 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/log.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e541ecbbfed40c266ea391d63e322f3de25aaec3d8fa98ac8a275ec56487917 +size 27 diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/000/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/000/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_eval + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/000/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1c2253e419f4c34fe0666f951da0aa0a6407bd0b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/001/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/001/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_eval + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/001/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1c2253e419f4c34fe0666f951da0aa0a6407bd0b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/002/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/002/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/002/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..f90b16169432ffdaecb47f2b5f428f95df95705d Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/003/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/003/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/003/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..f90b16169432ffdaecb47f2b5f428f95df95705d Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/004/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/004/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/004/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..f90b16169432ffdaecb47f2b5f428f95df95705d Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/005/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/005/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/005/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..f90b16169432ffdaecb47f2b5f428f95df95705d Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/006/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/006/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/006/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..f90b16169432ffdaecb47f2b5f428f95df95705d Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/007/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/007/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/007/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..944ebe560a8b73baa35e2c70e274ba717a84db2b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/008/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/008/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/008/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..944ebe560a8b73baa35e2c70e274ba717a84db2b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/009/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/009/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_eval + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/009/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1c2253e419f4c34fe0666f951da0aa0a6407bd0b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/010/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/010/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_eval + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/010/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1c2253e419f4c34fe0666f951da0aa0a6407bd0b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/011/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/011/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_eval + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/011/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/011/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1c2253e419f4c34fe0666f951da0aa0a6407bd0b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen_20p/log.pkl 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0000000000000000000000000000000000000000..9d4bca1101e17fa461f351bfa883b5a72277a994 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_val_unseen_20p/log.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c84a32110f49015bd8c8906ab888b2a2950106db507b2e4c9b6e55d93562ca6 +size 27 diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/log.pkl b/tasks/ebench/mobile_manip/dish_val_train_20p/log.pkl new file mode 100644 index 0000000000000000000000000000000000000000..5e2859d6a2483ba03f5ab2c1d03fd320135de8c0 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_train_20p/log.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e541ecbbfed40c266ea391d63e322f3de25aaec3d8fa98ac8a275ec56487917 +size 27 diff --git a/tasks/ebench/mobile_manip/dish_val_unseen/000/config.yaml b/tasks/ebench/mobile_manip/dish_val_unseen/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen/000/config.yaml @@ -0,0 +1,588 @@ +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/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 \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen/000/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_unseen/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_unseen/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_unseen/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_unseen/001/config.yaml b/tasks/ebench/mobile_manip/dish_val_unseen/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen/001/config.yaml @@ -0,0 +1,588 @@ +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/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 \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen/001/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_unseen/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_unseen/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_unseen/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_unseen/002/config.yaml b/tasks/ebench/mobile_manip/dish_val_unseen/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen/002/config.yaml @@ -0,0 +1,588 @@ +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/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 \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen/002/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_unseen/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_unseen/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_unseen/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_unseen/003/config.yaml b/tasks/ebench/mobile_manip/dish_val_unseen/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen/003/config.yaml @@ -0,0 +1,588 @@ +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/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 \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen/003/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_unseen/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_unseen/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_unseen/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_unseen/004/config.yaml b/tasks/ebench/mobile_manip/dish_val_unseen/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen/004/config.yaml @@ -0,0 +1,588 @@ +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/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 \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen/004/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_unseen/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_unseen/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_unseen/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_unseen/005/config.yaml b/tasks/ebench/mobile_manip/dish_val_unseen/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen/005/config.yaml @@ -0,0 +1,588 @@ +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/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 \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen/005/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_unseen/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_unseen/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_unseen/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/log.pkl b/tasks/ebench/mobile_manip/dish_val_unseen_20p/log.pkl new file mode 100644 index 0000000000000000000000000000000000000000..9d4bca1101e17fa461f351bfa883b5a72277a994 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen_20p/log.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c84a32110f49015bd8c8906ab888b2a2950106db507b2e4c9b6e55d93562ca6 +size 27 diff --git a/tasks/ebench/mobile_manip/dishwasher_val_train_20p/log.pkl b/tasks/ebench/mobile_manip/dishwasher_val_train_20p/log.pkl new file mode 100644 index 0000000000000000000000000000000000000000..5e2859d6a2483ba03f5ab2c1d03fd320135de8c0 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_val_train_20p/log.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e541ecbbfed40c266ea391d63e322f3de25aaec3d8fa98ac8a275ec56487917 +size 27 diff --git a/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/log.pkl b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/log.pkl new file mode 100644 index 0000000000000000000000000000000000000000..9d4bca1101e17fa461f351bfa883b5a72277a994 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/log.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c84a32110f49015bd8c8906ab888b2a2950106db507b2e4c9b6e55d93562ca6 +size 27 diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/000/config.yaml b/tasks/ebench/mobile_manip/fruit_test_mini/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/000/config.yaml @@ -0,0 +1,466 @@ +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 \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/000/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_test_mini/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_test_mini/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_test_mini/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/001/config.yaml b/tasks/ebench/mobile_manip/fruit_test_mini/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/001/config.yaml @@ -0,0 +1,466 @@ +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 \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/001/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_test_mini/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_test_mini/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_test_mini/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/002/config.yaml b/tasks/ebench/mobile_manip/fruit_test_mini/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/002/config.yaml @@ -0,0 +1,466 @@ +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 \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/002/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_test_mini/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_test_mini/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_test_mini/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/003/config.yaml b/tasks/ebench/mobile_manip/fruit_test_mini/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/003/config.yaml @@ -0,0 +1,466 @@ +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 \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/003/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_test_mini/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_test_mini/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_test_mini/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/004/config.yaml b/tasks/ebench/mobile_manip/fruit_test_mini/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/004/config.yaml @@ -0,0 +1,466 @@ +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 \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/004/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_test_mini/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_test_mini/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_test_mini/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/005/config.yaml b/tasks/ebench/mobile_manip/fruit_test_mini/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/005/config.yaml @@ -0,0 +1,466 @@ +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 \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/005/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_test_mini/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_test_mini/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_test_mini/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/006/config.yaml b/tasks/ebench/mobile_manip/fruit_test_mini/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/006/config.yaml @@ -0,0 +1,466 @@ +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 \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/006/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_test_mini/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_test_mini/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_test_mini/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/007/config.yaml b/tasks/ebench/mobile_manip/fruit_test_mini/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/007/config.yaml @@ -0,0 +1,466 @@ +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 \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/007/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_test_mini/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_test_mini/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_test_mini/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/008/config.yaml b/tasks/ebench/mobile_manip/fruit_test_mini/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/008/config.yaml @@ -0,0 +1,466 @@ +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 \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/008/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_test_mini/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_test_mini/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_test_mini/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/009/config.yaml b/tasks/ebench/mobile_manip/fruit_test_mini/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/009/config.yaml @@ -0,0 +1,466 @@ +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 \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/009/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_test_mini/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_test_mini/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_test_mini/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/010/config.yaml b/tasks/ebench/mobile_manip/fruit_test_mini/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/010/config.yaml @@ -0,0 +1,466 @@ +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 \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/010/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_test_mini/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_test_mini/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_test_mini/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/011/config.yaml b/tasks/ebench/mobile_manip/fruit_test_mini/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/011/config.yaml @@ -0,0 +1,466 @@ +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 \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/011/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_test_mini/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/011/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_test_mini/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_test_mini/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/012/config.yaml b/tasks/ebench/mobile_manip/fruit_test_mini/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/012/config.yaml @@ -0,0 +1,466 @@ +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 \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/012/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_test_mini/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/012/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/012/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_test_mini/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_test_mini/012/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/013/config.yaml b/tasks/ebench/mobile_manip/fruit_test_mini/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/013/config.yaml @@ -0,0 +1,466 @@ +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 \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/013/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_test_mini/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/013/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/013/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_test_mini/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_test_mini/013/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/014/config.yaml b/tasks/ebench/mobile_manip/fruit_test_mini/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/014/config.yaml @@ -0,0 +1,466 @@ +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 \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/014/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_test_mini/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/014/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/014/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_test_mini/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_test_mini/014/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/015/config.yaml b/tasks/ebench/mobile_manip/fruit_test_mini/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/015/config.yaml @@ -0,0 +1,466 @@ +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 \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/015/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_test_mini/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/015/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/015/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_test_mini/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_test_mini/015/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/016/config.yaml b/tasks/ebench/mobile_manip/fruit_test_mini/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/016/config.yaml @@ -0,0 +1,466 @@ +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 \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/016/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_test_mini/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/016/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/016/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_test_mini/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_test_mini/016/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/017/config.yaml b/tasks/ebench/mobile_manip/fruit_test_mini/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/017/config.yaml @@ -0,0 +1,466 @@ +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 \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/017/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_test_mini/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/017/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/017/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_test_mini/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_test_mini/017/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/018/config.yaml b/tasks/ebench/mobile_manip/fruit_test_mini/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/018/config.yaml @@ -0,0 +1,466 @@ +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 \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/018/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_test_mini/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/018/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/018/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_test_mini/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_test_mini/018/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/019/config.yaml b/tasks/ebench/mobile_manip/fruit_test_mini/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/019/config.yaml @@ -0,0 +1,466 @@ +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 \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/019/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_test_mini/019/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_test_mini/019/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_test_mini/019/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_test_mini/019/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_test_mini/019/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_val_train_20p/log.pkl b/tasks/ebench/mobile_manip/fruit_val_train_20p/log.pkl new file mode 100644 index 0000000000000000000000000000000000000000..5e2859d6a2483ba03f5ab2c1d03fd320135de8c0 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_train_20p/log.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e541ecbbfed40c266ea391d63e322f3de25aaec3d8fa98ac8a275ec56487917 +size 27 diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen_20p/log.pkl b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/log.pkl new file mode 100644 index 0000000000000000000000000000000000000000..9d4bca1101e17fa461f351bfa883b5a72277a994 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/log.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c84a32110f49015bd8c8906ab888b2a2950106db507b2e4c9b6e55d93562ca6 +size 27 diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/000/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_test_mini/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/000/config.yaml @@ -0,0 +1,303 @@ +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/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.3 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.3, 0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [0.0, 0.3, -0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.2, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_object_uid: beef + type: object_frame + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: true + rel_object_uid: lettuce + type: object_frame + left: + - name: left + translation: [-0.015, 0.32, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [-0.015, 0.33, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.015, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [-0.015, 0.38, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread4 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.0, 0.38, -0.1] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [0.0, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + robot: 0 + articulation: [] + reset_tcp: 0.2 + goal: + - - &id005 + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - &id006 + obj1_uid: + - beef + obj2_uid: + - bread2 + position: + - top + - obj1_uid: + - lettuce + obj2_uid: + - beef + position: + - top + - obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + instruction: Make a sandwich in the plate. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - plate: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + lettuce: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread4: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + beef: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + beef: + type: existed_object + uid_list: + - beef + is_not_rigid: true + without_colliders: true + plate: + type: existed_object + uid_list: + - plate + is_not_rigid: true + without_colliders: true + bread2: + type: existed_object + uid_list: + - bread2 + is_not_rigid: true + without_colliders: true + lettuce: + type: existed_object + uid_list: + - lettuce + is_not_rigid: true + without_colliders: true + bread4: + type: existed_object + uid_list: + - bread4 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base +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: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/000/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_test_mini/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich_test_mini/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich_test_mini/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/001/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_test_mini/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich_test_mini/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich_test_mini/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/002/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_test_mini/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/002/config.yaml @@ -0,0 +1,303 @@ +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/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.3 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.3, 0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [0.0, 0.3, -0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.2, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_object_uid: beef + type: object_frame + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: true + rel_object_uid: lettuce + type: object_frame + left: + - name: left + translation: [-0.015, 0.32, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [-0.015, 0.33, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.015, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [-0.015, 0.38, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread4 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.0, 0.38, -0.1] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [0.0, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + robot: 0 + articulation: [] + reset_tcp: 0.2 + goal: + - - &id005 + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - &id006 + obj1_uid: + - beef + obj2_uid: + - bread2 + position: + - top + - obj1_uid: + - lettuce + obj2_uid: + - beef + position: + - top + - obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + instruction: Make a sandwich in the plate. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - plate: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + lettuce: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread4: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + beef: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + beef: + type: existed_object + uid_list: + - beef + is_not_rigid: true + without_colliders: true + plate: + type: existed_object + uid_list: + - plate + is_not_rigid: true + without_colliders: true + bread2: + type: existed_object + uid_list: + - bread2 + is_not_rigid: true + without_colliders: true + lettuce: + type: existed_object + uid_list: + - lettuce + is_not_rigid: true + without_colliders: true + bread4: + type: existed_object + uid_list: + - bread4 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base +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: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/002/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_test_mini/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich_test_mini/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich_test_mini/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/003/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_test_mini/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/003/config.yaml @@ -0,0 +1,303 @@ +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/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.3 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.3, 0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [0.0, 0.3, -0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.2, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_object_uid: beef + type: object_frame + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: true + rel_object_uid: lettuce + type: object_frame + left: + - name: left + translation: [-0.015, 0.32, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [-0.015, 0.33, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.015, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [-0.015, 0.38, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread4 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.0, 0.38, -0.1] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [0.0, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + robot: 0 + articulation: [] + reset_tcp: 0.2 + goal: + - - &id005 + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - &id006 + obj1_uid: + - beef + obj2_uid: + - bread2 + position: + - top + - obj1_uid: + - lettuce + obj2_uid: + - beef + position: + - top + - obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + instruction: Make a sandwich in the plate. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - plate: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + lettuce: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread4: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + beef: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + beef: + type: existed_object + uid_list: + - beef + is_not_rigid: true + without_colliders: true + plate: + type: existed_object + uid_list: + - plate + is_not_rigid: true + without_colliders: true + bread2: + type: existed_object + uid_list: + - bread2 + is_not_rigid: true + without_colliders: true + lettuce: + type: existed_object + uid_list: + - lettuce + is_not_rigid: true + without_colliders: true + bread4: + type: existed_object + uid_list: + - bread4 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base +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: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/003/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_test_mini/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich_test_mini/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich_test_mini/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/004/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_test_mini/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich_test_mini/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich_test_mini/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/005/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_test_mini/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/005/config.yaml @@ -0,0 +1,303 @@ +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/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.3 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.3, 0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [0.0, 0.3, -0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.2, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_object_uid: beef + type: object_frame + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: true + rel_object_uid: lettuce + type: object_frame + left: + - name: left + translation: [-0.015, 0.32, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [-0.015, 0.33, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.015, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [-0.015, 0.38, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread4 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.0, 0.38, -0.1] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [0.0, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + robot: 0 + articulation: [] + reset_tcp: 0.2 + goal: + - - &id005 + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - &id006 + obj1_uid: + - beef + obj2_uid: + - bread2 + position: + - top + - obj1_uid: + - lettuce + obj2_uid: + - beef + position: + - top + - obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + instruction: Make a sandwich in the plate. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - plate: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + lettuce: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread4: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + beef: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + beef: + type: existed_object + uid_list: + - beef + is_not_rigid: true + without_colliders: true + plate: + type: existed_object + uid_list: + - plate + is_not_rigid: true + without_colliders: true + bread2: + type: existed_object + uid_list: + - bread2 + is_not_rigid: true + without_colliders: true + lettuce: + type: existed_object + uid_list: + - lettuce + is_not_rigid: true + without_colliders: true + bread4: + type: existed_object + uid_list: + - bread4 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base +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: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/005/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_test_mini/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich_test_mini/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich_test_mini/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/006/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_test_mini/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich_test_mini/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich_test_mini/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/007/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_test_mini/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich_test_mini/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich_test_mini/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/008/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_test_mini/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/008/config.yaml @@ -0,0 +1,303 @@ +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/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.3 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.3, 0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [0.0, 0.3, -0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.2, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_object_uid: beef + type: object_frame + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: true + rel_object_uid: lettuce + type: object_frame + left: + - name: left + translation: [-0.015, 0.32, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [-0.015, 0.33, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.015, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [-0.015, 0.38, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread4 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.0, 0.38, -0.1] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [0.0, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + robot: 0 + articulation: [] + reset_tcp: 0.2 + goal: + - - &id005 + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - &id006 + obj1_uid: + - beef + obj2_uid: + - bread2 + position: + - top + - obj1_uid: + - lettuce + obj2_uid: + - beef + position: + - top + - obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + instruction: Make a sandwich in the plate. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - plate: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + lettuce: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread4: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + beef: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + beef: + type: existed_object + uid_list: + - beef + is_not_rigid: true + without_colliders: true + plate: + type: existed_object + uid_list: + - plate + is_not_rigid: true + without_colliders: true + bread2: + type: existed_object + uid_list: + - bread2 + is_not_rigid: true + without_colliders: true + lettuce: + type: existed_object + uid_list: + - lettuce + is_not_rigid: true + without_colliders: true + bread4: + type: existed_object + uid_list: + - bread4 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base +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: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/008/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_test_mini/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich_test_mini/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich_test_mini/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/009/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_test_mini/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/009/config.yaml @@ -0,0 +1,303 @@ +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/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.3 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.3, 0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [0.0, 0.3, -0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.2, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_object_uid: beef + type: object_frame + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: true + rel_object_uid: lettuce + type: object_frame + left: + - name: left + translation: [-0.015, 0.32, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [-0.015, 0.33, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.015, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [-0.015, 0.38, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread4 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.0, 0.38, -0.1] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [0.0, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + robot: 0 + articulation: [] + reset_tcp: 0.2 + goal: + - - &id005 + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - &id006 + obj1_uid: + - beef + obj2_uid: + - bread2 + position: + - top + - obj1_uid: + - lettuce + obj2_uid: + - beef + position: + - top + - obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + instruction: Make a sandwich in the plate. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - plate: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + lettuce: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread4: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + beef: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + beef: + type: existed_object + uid_list: + - beef + is_not_rigid: true + without_colliders: true + plate: + type: existed_object + uid_list: + - plate + is_not_rigid: true + without_colliders: true + bread2: + type: existed_object + uid_list: + - bread2 + is_not_rigid: true + without_colliders: true + lettuce: + type: existed_object + uid_list: + - lettuce + is_not_rigid: true + without_colliders: true + bread4: + type: existed_object + uid_list: + - bread4 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base +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: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/009/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_test_mini/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich_test_mini/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich_test_mini/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/010/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_test_mini/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich_test_mini/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich_test_mini/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/011/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_test_mini/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/011/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich_test_mini/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich_test_mini/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/012/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_test_mini/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/012/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/012/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich_test_mini/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich_test_mini/012/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/013/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_test_mini/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/013/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/013/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich_test_mini/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich_test_mini/013/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/014/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_test_mini/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/014/config.yaml @@ -0,0 +1,303 @@ +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/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.3 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.3, 0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [0.0, 0.3, -0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.2, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_object_uid: beef + type: object_frame + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: true + rel_object_uid: lettuce + type: object_frame + left: + - name: left + translation: [-0.015, 0.32, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [-0.015, 0.33, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.015, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [-0.015, 0.38, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread4 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.0, 0.38, -0.1] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [0.0, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + robot: 0 + articulation: [] + reset_tcp: 0.2 + goal: + - - &id005 + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - &id006 + obj1_uid: + - beef + obj2_uid: + - bread2 + position: + - top + - obj1_uid: + - lettuce + obj2_uid: + - beef + position: + - top + - obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + instruction: Make a sandwich in the plate. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - plate: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + lettuce: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread4: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + beef: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + beef: + type: existed_object + uid_list: + - beef + is_not_rigid: true + without_colliders: true + plate: + type: existed_object + uid_list: + - plate + is_not_rigid: true + without_colliders: true + bread2: + type: existed_object + uid_list: + - bread2 + is_not_rigid: true + without_colliders: true + lettuce: + type: existed_object + uid_list: + - lettuce + is_not_rigid: true + without_colliders: true + bread4: + type: existed_object + uid_list: + - bread4 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base +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: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_test_mini/014/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_test_mini/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_test_mini/014/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git 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b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/log.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c84a32110f49015bd8c8906ab888b2a2950106db507b2e4c9b6e55d93562ca6 +size 27 diff --git a/tasks/ebench/mobile_manip/pen/000/config.yaml b/tasks/ebench/mobile_manip/pen/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/000/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/001/config.yaml b/tasks/ebench/mobile_manip/pen/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/001/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/001/lmdb/info.json b/tasks/ebench/mobile_manip/pen/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen/002/config.yaml b/tasks/ebench/mobile_manip/pen/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/002/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/003/config.yaml b/tasks/ebench/mobile_manip/pen/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/003/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/004/config.yaml b/tasks/ebench/mobile_manip/pen/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/004/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/005/config.yaml b/tasks/ebench/mobile_manip/pen/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/005/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/006/config.yaml b/tasks/ebench/mobile_manip/pen/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/006/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/006/lmdb/info.json b/tasks/ebench/mobile_manip/pen/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen/007/config.yaml b/tasks/ebench/mobile_manip/pen/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/007/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/007/lmdb/info.json b/tasks/ebench/mobile_manip/pen/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen/008/config.yaml b/tasks/ebench/mobile_manip/pen/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/008/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/009/config.yaml b/tasks/ebench/mobile_manip/pen/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/009/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/010/config.yaml b/tasks/ebench/mobile_manip/pen/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/010/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/010/lmdb/info.json b/tasks/ebench/mobile_manip/pen/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen/011/config.yaml b/tasks/ebench/mobile_manip/pen/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/011/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/012/config.yaml b/tasks/ebench/mobile_manip/pen/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/012/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/012/lmdb/info.json b/tasks/ebench/mobile_manip/pen/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/012/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/012/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen/012/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen/013/config.yaml b/tasks/ebench/mobile_manip/pen/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/013/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/013/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen/013/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen/014/config.yaml b/tasks/ebench/mobile_manip/pen/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/014/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/015/config.yaml b/tasks/ebench/mobile_manip/pen/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/015/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/015/lmdb/info.json b/tasks/ebench/mobile_manip/pen/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/015/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/015/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen/015/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen/016/config.yaml b/tasks/ebench/mobile_manip/pen/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/016/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/016/lmdb/info.json b/tasks/ebench/mobile_manip/pen/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/016/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/016/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen/016/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen/017/config.yaml b/tasks/ebench/mobile_manip/pen/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/017/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/018/config.yaml b/tasks/ebench/mobile_manip/pen/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/018/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/019/config.yaml b/tasks/ebench/mobile_manip/pen/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/019/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/020/config.yaml b/tasks/ebench/mobile_manip/pen/020/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/020/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/020/lmdb/info.json b/tasks/ebench/mobile_manip/pen/020/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/020/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/020/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen/020/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen/020/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen/021/config.yaml b/tasks/ebench/mobile_manip/pen/021/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/021/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/021/lmdb/info.json b/tasks/ebench/mobile_manip/pen/021/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/021/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/021/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen/021/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen/021/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen/022/config.yaml b/tasks/ebench/mobile_manip/pen/022/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/022/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/022/lmdb/info.json b/tasks/ebench/mobile_manip/pen/022/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/022/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/022/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen/022/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen/022/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen/023/config.yaml b/tasks/ebench/mobile_manip/pen/023/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/023/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/023/lmdb/info.json b/tasks/ebench/mobile_manip/pen/023/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/023/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/023/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen/023/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen/023/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen/024/config.yaml b/tasks/ebench/mobile_manip/pen/024/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/024/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/025/config.yaml b/tasks/ebench/mobile_manip/pen/025/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/025/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/025/lmdb/info.json b/tasks/ebench/mobile_manip/pen/025/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/025/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/025/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen/025/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen/025/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen/026/config.yaml b/tasks/ebench/mobile_manip/pen/026/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/026/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/027/config.yaml b/tasks/ebench/mobile_manip/pen/027/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/027/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/027/lmdb/info.json b/tasks/ebench/mobile_manip/pen/027/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/027/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/027/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen/027/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen/027/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen/028/config.yaml b/tasks/ebench/mobile_manip/pen/028/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/028/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/029/config.yaml b/tasks/ebench/mobile_manip/pen/029/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/029/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/029/lmdb/info.json b/tasks/ebench/mobile_manip/pen/029/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/029/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/029/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen/029/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen/029/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen/030/config.yaml b/tasks/ebench/mobile_manip/pen/030/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/030/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/031/config.yaml b/tasks/ebench/mobile_manip/pen/031/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/031/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/031/lmdb/info.json b/tasks/ebench/mobile_manip/pen/031/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/031/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/031/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen/031/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen/031/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen/032/config.yaml b/tasks/ebench/mobile_manip/pen/032/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/032/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/033/config.yaml b/tasks/ebench/mobile_manip/pen/033/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/033/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/034/config.yaml b/tasks/ebench/mobile_manip/pen/034/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/034/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/035/config.yaml b/tasks/ebench/mobile_manip/pen/035/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/035/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/036/config.yaml b/tasks/ebench/mobile_manip/pen/036/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/036/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/036/lmdb/info.json b/tasks/ebench/mobile_manip/pen/036/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/036/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/036/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen/036/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen/036/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen/037/config.yaml b/tasks/ebench/mobile_manip/pen/037/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/037/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/038/config.yaml b/tasks/ebench/mobile_manip/pen/038/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/038/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/039/config.yaml b/tasks/ebench/mobile_manip/pen/039/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/039/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/039/lmdb/info.json b/tasks/ebench/mobile_manip/pen/039/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/039/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/039/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen/039/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen/039/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen/040/config.yaml b/tasks/ebench/mobile_manip/pen/040/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/040/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/040/lmdb/info.json b/tasks/ebench/mobile_manip/pen/040/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/040/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/040/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen/040/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen/040/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen/041/config.yaml b/tasks/ebench/mobile_manip/pen/041/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/041/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/042/config.yaml b/tasks/ebench/mobile_manip/pen/042/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/042/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/043/config.yaml b/tasks/ebench/mobile_manip/pen/043/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/043/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/044/config.yaml b/tasks/ebench/mobile_manip/pen/044/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/044/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/045/config.yaml b/tasks/ebench/mobile_manip/pen/045/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/045/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/045/lmdb/info.json b/tasks/ebench/mobile_manip/pen/045/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/045/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/045/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen/045/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen/045/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen/046/config.yaml b/tasks/ebench/mobile_manip/pen/046/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/046/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/047/config.yaml b/tasks/ebench/mobile_manip/pen/047/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/047/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/048/config.yaml b/tasks/ebench/mobile_manip/pen/048/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/048/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/049/config.yaml b/tasks/ebench/mobile_manip/pen/049/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/049/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/050/config.yaml b/tasks/ebench/mobile_manip/pen/050/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/050/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/051/config.yaml b/tasks/ebench/mobile_manip/pen/051/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/051/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/051/lmdb/info.json b/tasks/ebench/mobile_manip/pen/051/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/051/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/051/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen/051/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen/051/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen/052/config.yaml b/tasks/ebench/mobile_manip/pen/052/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/052/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/053/config.yaml b/tasks/ebench/mobile_manip/pen/053/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/053/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/053/lmdb/info.json b/tasks/ebench/mobile_manip/pen/053/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/053/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/053/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen/053/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen/053/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen/054/config.yaml b/tasks/ebench/mobile_manip/pen/054/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/054/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/055/config.yaml b/tasks/ebench/mobile_manip/pen/055/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/055/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/056/config.yaml b/tasks/ebench/mobile_manip/pen/056/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/056/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/057/config.yaml b/tasks/ebench/mobile_manip/pen/057/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/057/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/058/config.yaml b/tasks/ebench/mobile_manip/pen/058/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/058/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/058/lmdb/info.json b/tasks/ebench/mobile_manip/pen/058/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/058/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/058/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen/058/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen/058/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen/059/config.yaml b/tasks/ebench/mobile_manip/pen/059/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/059/config.yaml @@ -0,0 +1,275 @@ +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_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/059/lmdb/info.json b/tasks/ebench/mobile_manip/pen/059/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen/059/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen/059/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen/059/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen/059/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen_val_train_20p/log.pkl b/tasks/ebench/mobile_manip/pen_val_train_20p/log.pkl new file mode 100644 index 0000000000000000000000000000000000000000..5e2859d6a2483ba03f5ab2c1d03fd320135de8c0 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_val_train_20p/log.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e541ecbbfed40c266ea391d63e322f3de25aaec3d8fa98ac8a275ec56487917 +size 27 diff --git a/tasks/ebench/mobile_manip/pen_val_unseen_20p/log.pkl b/tasks/ebench/mobile_manip/pen_val_unseen_20p/log.pkl new file mode 100644 index 0000000000000000000000000000000000000000..9d4bca1101e17fa461f351bfa883b5a72277a994 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_val_unseen_20p/log.pkl @@ 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b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/log.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c84a32110f49015bd8c8906ab888b2a2950106db507b2e4c9b6e55d93562ca6 +size 27 diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_train_20p/log.pkl b/tasks/ebench/mobile_manip/remote_to_holder_val_train_20p/log.pkl new file mode 100644 index 0000000000000000000000000000000000000000..5e2859d6a2483ba03f5ab2c1d03fd320135de8c0 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_val_train_20p/log.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e541ecbbfed40c266ea391d63e322f3de25aaec3d8fa98ac8a275ec56487917 +size 27 diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/log.pkl b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/log.pkl new file mode 100644 index 0000000000000000000000000000000000000000..9d4bca1101e17fa461f351bfa883b5a72277a994 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/log.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c84a32110f49015bd8c8906ab888b2a2950106db507b2e4c9b6e55d93562ca6 +size 27 diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/000/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/000/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + # mode: auto + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/001/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/001/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + # mode: auto + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/002/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/002/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + # mode: auto + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/003/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/003/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + # mode: auto + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/004/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/004/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + # mode: auto + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/005/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/005/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + # mode: auto + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/006/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/006/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + # mode: auto + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/007/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/007/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + # mode: auto + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/008/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/008/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + # mode: auto + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/009/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/009/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + # mode: auto + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/010/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/010/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + # mode: auto + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/011/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/011/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + # mode: auto + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/012/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/012/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + # mode: auto + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/013/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/013/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + # mode: auto + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/014/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/014/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + # mode: auto + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/015/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/015/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + # mode: auto + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/016/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/016/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + # mode: auto + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/017/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/017/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + # mode: auto + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/018/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/018/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + # mode: auto + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/019/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/019/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + # mode: auto + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train_20p/log.pkl b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train_20p/log.pkl new file mode 100644 index 0000000000000000000000000000000000000000..5e2859d6a2483ba03f5ab2c1d03fd320135de8c0 --- 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b/tasks/ebench/mobile_manip/shop_val_train_20p/log.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e541ecbbfed40c266ea391d63e322f3de25aaec3d8fa98ac8a275ec56487917 +size 27 diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/log.pkl b/tasks/ebench/mobile_manip/shop_val_unseen_20p/log.pkl new file mode 100644 index 0000000000000000000000000000000000000000..9d4bca1101e17fa461f351bfa883b5a72277a994 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_unseen_20p/log.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c84a32110f49015bd8c8906ab888b2a2950106db507b2e4c9b6e55d93562ca6 +size 27 diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/log.pkl b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/log.pkl new file mode 100644 index 0000000000000000000000000000000000000000..5e2859d6a2483ba03f5ab2c1d03fd320135de8c0 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/log.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e541ecbbfed40c266ea391d63e322f3de25aaec3d8fa98ac8a275ec56487917 +size 27 diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_unseen_20p/log.pkl b/tasks/ebench/mobile_manip/soap_to_dish_val_unseen_20p/log.pkl new file mode 100644 index 0000000000000000000000000000000000000000..9d4bca1101e17fa461f351bfa883b5a72277a994 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_val_unseen_20p/log.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c84a32110f49015bd8c8906ab888b2a2950106db507b2e4c9b6e55d93562ca6 +size 27 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/000/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95ab501de898cf6ade8bf626f3ca8ee6500a3ace --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/000/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_eval + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/000/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8009ebef80a137d3da0d1e552de33be096b9e97b Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/001/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95ab501de898cf6ade8bf626f3ca8ee6500a3ace --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/001/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_eval + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/001/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8009ebef80a137d3da0d1e552de33be096b9e97b Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/002/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..288f47868af55a65af546a13c970b5f3a18ad54f --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/002/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_ready + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/002/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..faae443240d72ba1d8d608ce6f60d46bfaa26446 Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/003/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95ab501de898cf6ade8bf626f3ca8ee6500a3ace --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/003/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_eval + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/003/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..3d5d4e45a140251fc1cb4aee76e2195f073e9452 Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/004/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95ab501de898cf6ade8bf626f3ca8ee6500a3ace --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/004/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_eval + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/004/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8009ebef80a137d3da0d1e552de33be096b9e97b Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/005/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/005/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/005/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..63a1e8238f39f1a66249e43df65960dbd691a757 Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/006/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/006/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/006/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5b4b4e792deb476f8cfd0dac9155a9b1d661495e Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/007/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/007/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/007/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5b4b4e792deb476f8cfd0dac9155a9b1d661495e Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/008/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/008/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/008/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..63a1e8238f39f1a66249e43df65960dbd691a757 Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/009/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/009/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/009/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..dde2144332d5986619a55db3614481b8078864dd Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/010/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/010/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/010/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5b4b4e792deb476f8cfd0dac9155a9b1d661495e Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/011/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/011/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/011/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/011/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5b4b4e792deb476f8cfd0dac9155a9b1d661495e Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/012/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/012/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/012/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/012/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/012/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..dde2144332d5986619a55db3614481b8078864dd Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/012/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/013/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/013/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/013/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/013/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/013/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..63a1e8238f39f1a66249e43df65960dbd691a757 Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/013/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/014/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/014/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/014/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/014/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/014/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5b4b4e792deb476f8cfd0dac9155a9b1d661495e Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/014/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/015/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95ab501de898cf6ade8bf626f3ca8ee6500a3ace --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/015/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_eval + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/015/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/015/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/015/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8009ebef80a137d3da0d1e552de33be096b9e97b Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/015/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/016/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95ab501de898cf6ade8bf626f3ca8ee6500a3ace --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/016/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_eval + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/016/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/016/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/016/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8009ebef80a137d3da0d1e552de33be096b9e97b Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/016/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/017/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95ab501de898cf6ade8bf626f3ca8ee6500a3ace --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/017/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_eval + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/017/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/017/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/017/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..3d5d4e45a140251fc1cb4aee76e2195f073e9452 Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/017/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/018/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95ab501de898cf6ade8bf626f3ca8ee6500a3ace --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/018/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_eval + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/018/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/018/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/018/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..3d5d4e45a140251fc1cb4aee76e2195f073e9452 Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/018/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/019/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95ab501de898cf6ade8bf626f3ca8ee6500a3ace --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/019/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + 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 + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_eval + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_test_mini/019/lmdb/info.json 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