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a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/059/lmdb/data.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/059/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8a2a2c875470b9dfb1b138447496f888fc68013e --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/059/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:799f4e2842c2b0a3be7bcd876f3ae8987cc463eec373c0a5dc8da6d3fb26a8c5 +size 2334720 diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/000/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/000/config.yaml @@ -0,0 +1,198 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + 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 + mode: manual + planner: curobo + instruction: Pick up the apple from the dining table and place it into the fruit bowl. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/000/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_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_to_fruit_bowl_val_unseen_20p/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/001/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/001/config.yaml @@ -0,0 +1,198 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + 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 + mode: manual + planner: curobo + instruction: Pick up the apple from the dining table and place it into the fruit bowl. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/001/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_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_to_fruit_bowl_val_unseen_20p/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/002/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/002/config.yaml @@ -0,0 +1,198 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + 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 + mode: manual + planner: curobo + instruction: Pick up the apple from the dining table and place it into the fruit bowl. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/002/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_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_to_fruit_bowl_val_unseen_20p/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/003/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4ca6ef2a3158b0687b6e0556908a3a7bcef44a68 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/003/config.yaml @@ -0,0 +1,198 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + 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 + mode: manual + planner: curobo + instruction: Pick up the apple from the dining table and place it into the fruit bowl. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 200 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/003/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_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_to_fruit_bowl_val_unseen_20p/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4ced334899f70f4c5f8ff34dc0c9495765e6238c Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/004/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/004/config.yaml @@ -0,0 +1,198 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + 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 + mode: manual + planner: curobo + instruction: Pick up the apple from the dining table and place it into the fruit bowl. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/004/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_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_to_fruit_bowl_val_unseen_20p/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/005/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/005/config.yaml @@ -0,0 +1,198 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + 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 + mode: manual + planner: curobo + instruction: Pick up the apple from the dining table and place it into the fruit bowl. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/005/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_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_to_fruit_bowl_val_unseen_20p/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/006/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/006/config.yaml @@ -0,0 +1,198 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + 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 + mode: manual + planner: curobo + instruction: Pick up the apple from the dining table and place it into the fruit bowl. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/006/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_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_to_fruit_bowl_val_unseen_20p/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/007/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/007/config.yaml @@ -0,0 +1,198 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + 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 + mode: manual + planner: curobo + instruction: Pick up the apple from the dining table and place it into the fruit bowl. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/007/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_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_to_fruit_bowl_val_unseen_20p/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/008/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/008/config.yaml @@ -0,0 +1,198 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + 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 + mode: manual + planner: curobo + instruction: Pick up the apple from the dining table and place it into the fruit bowl. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/008/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_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_to_fruit_bowl_val_unseen_20p/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/009/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4ca6ef2a3158b0687b6e0556908a3a7bcef44a68 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/009/config.yaml @@ -0,0 +1,198 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + 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 + mode: manual + planner: curobo + instruction: Pick up the apple from the dining table and place it into the fruit bowl. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 200 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/009/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_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_to_fruit_bowl_val_unseen_20p/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4ced334899f70f4c5f8ff34dc0c9495765e6238c Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/010/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/010/config.yaml @@ -0,0 +1,198 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + 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 + mode: manual + planner: curobo + instruction: Pick up the apple from the dining table and place it into the fruit bowl. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/010/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_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_to_fruit_bowl_val_unseen_20p/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/011/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/011/config.yaml @@ -0,0 +1,198 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + 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 + mode: manual + planner: curobo + instruction: Pick up the apple from the dining table and place it into the fruit bowl. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/011/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_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_to_fruit_bowl_val_unseen_20p/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen_20p/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/000/config.yaml b/tasks/ebench/mobile_manip/bottle_test_mini/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_test_mini/000/config.yaml @@ -0,0 +1,1121 @@ +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$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: bottle1 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle1 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle2 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle2 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle3 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle3 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle10 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle10 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle9 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle9 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle11 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle11 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle8 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle8 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle12 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle12 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle7 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle7 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle4 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle4 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle5 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle5 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle6 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle6 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle3 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle4 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle5 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle6 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle7 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle8 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle9 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle10 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle11 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle12 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + mode: manual + planner: curobo + instruction: Sort all the bottles into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bottle1: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle2: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle3: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle4: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle5: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle6: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle7: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle8: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle9: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle10: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle11: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle12: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + mode: manual + num_episode: 5 + object_config: + basket: + type: existed_object + uid_list: + - "05" + is_not_rigid: true + without_colliders: true + bottle1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle4: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle5: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle6: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle7: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle8: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle9: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + option: + - plain_replace + bottle10: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle11: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle12: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/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: [0.9, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/000/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_test_mini/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_test_mini/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_test_mini/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_test_mini/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/001/config.yaml b/tasks/ebench/mobile_manip/bottle_test_mini/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_test_mini/001/config.yaml @@ -0,0 +1,1121 @@ +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$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: bottle1 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle1 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle2 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle2 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle3 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle3 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle10 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle10 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle9 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle9 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle11 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle11 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle8 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle8 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle12 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle12 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle7 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle7 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle4 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle4 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle5 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle5 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle6 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle6 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle3 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle4 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle5 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle6 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle7 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle8 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle9 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle10 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle11 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle12 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + mode: manual + planner: curobo + instruction: Sort all the bottles into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bottle1: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle2: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle3: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle4: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle5: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle6: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle7: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle8: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle9: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle10: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle11: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle12: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + mode: manual + num_episode: 5 + object_config: + basket: + type: existed_object + uid_list: + - "05" + is_not_rigid: true + without_colliders: true + bottle1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle4: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle5: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle6: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle7: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle8: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle9: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + option: + - plain_replace + bottle10: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle11: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle12: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/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: [0.9, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/001/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_test_mini/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_test_mini/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_test_mini/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_test_mini/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/002/config.yaml b/tasks/ebench/mobile_manip/bottle_test_mini/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_test_mini/002/config.yaml @@ -0,0 +1,1121 @@ +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$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: bottle1 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle1 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle2 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle2 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle3 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle3 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle10 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle10 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle9 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle9 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle11 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle11 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle8 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle8 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle12 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle12 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle7 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle7 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle4 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle4 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle5 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle5 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle6 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle6 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle3 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle4 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle5 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle6 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle7 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle8 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle9 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle10 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle11 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle12 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + mode: manual + planner: curobo + instruction: Sort all the bottles into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bottle1: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle2: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle3: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle4: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle5: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle6: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle7: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle8: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle9: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle10: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle11: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle12: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + mode: manual + num_episode: 5 + object_config: + basket: + type: existed_object + uid_list: + - "05" + is_not_rigid: true + without_colliders: true + bottle1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle4: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle5: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle6: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle7: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle8: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle9: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + option: + - plain_replace + bottle10: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle11: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle12: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/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: [0.9, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/002/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_test_mini/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_test_mini/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_test_mini/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_test_mini/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/003/config.yaml b/tasks/ebench/mobile_manip/bottle_test_mini/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_test_mini/003/config.yaml @@ -0,0 +1,1121 @@ +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$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: bottle1 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle1 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle2 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle2 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle3 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle3 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle10 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle10 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle9 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle9 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle11 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle11 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle8 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle8 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle12 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle12 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle7 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle7 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle4 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle4 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle5 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle5 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle6 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle6 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle3 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle4 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle5 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle6 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle7 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle8 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle9 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle10 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle11 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle12 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + mode: manual + planner: curobo + instruction: Sort all the bottles into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bottle1: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle2: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle3: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle4: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle5: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle6: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle7: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle8: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle9: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle10: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle11: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle12: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + mode: manual + num_episode: 5 + object_config: + basket: + type: existed_object + uid_list: + - "05" + is_not_rigid: true + without_colliders: true + bottle1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle4: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle5: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle6: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle7: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle8: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle9: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + option: + - plain_replace + bottle10: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle11: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle12: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/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: [0.9, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/003/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_test_mini/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_test_mini/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_test_mini/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_test_mini/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/004/config.yaml b/tasks/ebench/mobile_manip/bottle_test_mini/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_test_mini/004/config.yaml @@ -0,0 +1,1121 @@ +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$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: bottle1 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle1 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle2 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle2 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle3 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle3 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle10 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle10 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle9 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle9 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle11 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle11 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle8 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle8 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle12 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle12 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle7 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle7 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle4 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle4 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle5 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle5 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle6 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle6 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle3 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle4 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle5 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle6 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle7 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle8 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle9 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle10 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle11 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle12 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + mode: manual + planner: curobo + instruction: Sort all the bottles into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bottle1: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle2: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle3: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle4: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle5: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle6: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle7: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle8: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle9: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle10: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle11: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle12: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + mode: manual + num_episode: 5 + object_config: + basket: + type: existed_object + uid_list: + - "05" + is_not_rigid: true + without_colliders: true + bottle1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle4: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle5: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle6: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle7: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle8: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle9: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + option: + - plain_replace + bottle10: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle11: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle12: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/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: [0.9, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/004/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_test_mini/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_test_mini/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_test_mini/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_test_mini/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/005/config.yaml b/tasks/ebench/mobile_manip/bottle_test_mini/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_test_mini/005/config.yaml @@ -0,0 +1,1121 @@ +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$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: bottle1 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle1 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle2 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle2 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle3 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle3 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle10 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle10 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle9 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle9 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle11 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle11 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle8 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle8 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle12 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle12 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle7 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle7 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle4 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle4 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle5 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle5 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle6 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle6 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle3 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle4 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle5 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle6 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle7 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle8 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle9 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle10 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle11 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle12 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + mode: manual + planner: curobo + instruction: Sort all the bottles into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bottle1: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle2: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle3: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle4: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle5: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle6: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle7: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle8: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle9: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle10: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle11: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle12: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + mode: manual + num_episode: 5 + object_config: + basket: + type: existed_object + uid_list: + - "05" + is_not_rigid: true + without_colliders: true + bottle1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle4: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle5: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle6: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle7: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle8: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle9: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + option: + - plain_replace + bottle10: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle11: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle12: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/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: [0.9, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/005/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_test_mini/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_test_mini/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_test_mini/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_test_mini/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/006/config.yaml b/tasks/ebench/mobile_manip/bottle_test_mini/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_test_mini/006/config.yaml @@ -0,0 +1,1121 @@ +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$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: bottle1 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle1 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle2 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle2 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle3 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle3 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle10 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle10 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle9 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle9 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle11 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle11 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle8 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle8 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle12 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle12 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle7 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle7 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle4 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle4 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle5 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle5 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle6 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle6 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle3 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle4 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle5 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle6 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle7 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle8 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle9 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle10 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle11 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle12 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + mode: manual + planner: curobo + instruction: Sort all the bottles into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bottle1: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle2: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle3: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle4: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle5: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle6: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle7: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle8: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle9: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle10: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle11: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle12: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + mode: manual + num_episode: 5 + object_config: + basket: + type: existed_object + uid_list: + - "05" + is_not_rigid: true + without_colliders: true + bottle1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle4: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle5: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle6: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle7: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle8: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle9: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + option: + - plain_replace + bottle10: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle11: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle12: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/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: [0.9, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/006/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_test_mini/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_test_mini/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_test_mini/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_test_mini/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/007/config.yaml b/tasks/ebench/mobile_manip/bottle_test_mini/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_test_mini/007/config.yaml @@ -0,0 +1,1121 @@ +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$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: bottle1 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle1 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle2 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle2 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle3 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle3 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle10 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle10 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle9 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle9 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle11 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle11 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle8 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle8 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle12 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle12 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle7 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle7 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle4 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle4 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle5 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle5 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle6 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle6 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle3 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle4 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle5 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle6 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle7 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle8 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle9 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle10 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle11 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle12 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + mode: manual + planner: curobo + instruction: Sort all the bottles into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bottle1: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle2: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle3: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle4: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle5: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle6: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle7: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle8: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle9: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle10: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle11: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle12: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + mode: manual + num_episode: 5 + object_config: + basket: + type: existed_object + uid_list: + - "05" + is_not_rigid: true + without_colliders: true + bottle1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle4: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle5: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle6: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle7: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle8: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle9: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + option: + - plain_replace + bottle10: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle11: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle12: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/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: [0.9, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/007/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_test_mini/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_test_mini/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_test_mini/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_test_mini/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/008/config.yaml b/tasks/ebench/mobile_manip/bottle_test_mini/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_test_mini/008/config.yaml @@ -0,0 +1,1121 @@ +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$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: bottle1 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle1 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle2 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle2 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle3 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle3 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle10 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle10 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle9 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle9 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle11 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle11 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle8 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle8 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle12 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle12 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle7 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle7 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle4 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle4 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle5 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle5 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle6 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle6 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle3 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle4 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle5 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle6 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle7 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle8 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle9 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle10 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle11 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle12 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + mode: manual + planner: curobo + instruction: Sort all the bottles into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bottle1: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle2: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle3: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle4: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle5: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle6: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle7: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle8: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle9: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle10: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle11: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle12: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + mode: manual + num_episode: 5 + object_config: + basket: + type: existed_object + uid_list: + - "05" + is_not_rigid: true + without_colliders: true + bottle1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle4: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle5: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle6: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle7: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle8: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle9: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + option: + - plain_replace + bottle10: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle11: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle12: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/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: [0.9, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/008/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_test_mini/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_test_mini/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_test_mini/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_test_mini/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/009/config.yaml b/tasks/ebench/mobile_manip/bottle_test_mini/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_test_mini/009/config.yaml @@ -0,0 +1,1121 @@ +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$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: bottle1 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle1 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle2 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle2 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle3 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle3 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle10 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle10 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle9 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle9 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle11 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle11 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle8 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle8 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle12 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle12 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle7 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle7 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle4 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle4 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle5 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle5 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle6 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle6 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle3 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle4 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle5 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle6 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle7 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle8 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle9 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle10 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle11 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle12 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + mode: manual + planner: curobo + instruction: Sort all the bottles into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bottle1: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle2: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle3: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle4: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle5: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle6: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle7: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle8: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle9: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle10: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle11: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle12: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + mode: manual + num_episode: 5 + object_config: + basket: + type: existed_object + uid_list: + - "05" + is_not_rigid: true + without_colliders: true + bottle1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle4: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle5: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle6: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle7: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle8: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle9: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + option: + - plain_replace + bottle10: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle11: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle12: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/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: [0.9, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/010/config.yaml b/tasks/ebench/mobile_manip/bottle_test_mini/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_test_mini/010/config.yaml @@ -0,0 +1,1121 @@ +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$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: bottle1 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle1 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle2 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle2 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle3 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle3 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle10 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle10 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle9 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle9 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle11 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle11 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle8 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle8 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle12 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle12 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle7 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle7 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle4 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle4 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle5 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle5 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle6 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle6 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle3 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle4 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle5 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle6 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle7 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle8 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle9 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle10 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle11 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle12 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + mode: manual + planner: curobo + instruction: Sort all the bottles into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bottle1: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle2: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle3: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle4: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle5: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle6: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle7: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle8: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle9: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle10: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle11: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle12: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + mode: manual + num_episode: 5 + object_config: + basket: + type: existed_object + uid_list: + - "05" + is_not_rigid: true + without_colliders: true + bottle1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle4: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle5: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle6: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle7: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle8: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle9: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + option: + - plain_replace + bottle10: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle11: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle12: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/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: [0.9, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/010/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_test_mini/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_test_mini/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_test_mini/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_test_mini/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/011/config.yaml b/tasks/ebench/mobile_manip/bottle_test_mini/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_test_mini/011/config.yaml @@ -0,0 +1,1121 @@ +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$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: bottle1 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle1 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle2 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle2 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle3 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle3 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle10 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle10 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle9 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle9 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle11 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle11 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle8 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle8 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle12 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle12 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle7 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle7 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle4 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle4 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle5 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle5 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle6 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle6 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle3 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle4 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle5 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle6 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle7 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle8 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle9 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle10 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle11 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle12 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + mode: manual + planner: curobo + instruction: Sort all the bottles into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bottle1: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle2: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle3: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle4: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle5: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle6: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle7: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle8: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle9: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle10: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle11: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle12: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + mode: manual + num_episode: 5 + object_config: + basket: + type: existed_object + uid_list: + - "05" + is_not_rigid: true + without_colliders: true + bottle1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle4: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle5: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle6: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle7: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle8: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle9: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + option: + - plain_replace + bottle10: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle11: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle12: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/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: [0.9, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/011/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_test_mini/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_test_mini/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_test_mini/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_test_mini/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/012/config.yaml b/tasks/ebench/mobile_manip/bottle_test_mini/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_test_mini/012/config.yaml @@ -0,0 +1,1121 @@ +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$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: bottle1 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle1 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle2 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle2 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle3 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle3 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle10 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle10 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle9 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle9 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle11 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle11 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle8 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle8 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle12 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle12 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle7 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle7 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle4 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle4 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle5 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle5 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle6 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle6 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle3 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle4 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle5 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle6 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle7 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle8 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle9 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle10 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle11 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle12 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + mode: manual + planner: curobo + instruction: Sort all the bottles into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bottle1: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle2: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle3: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle4: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle5: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle6: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle7: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle8: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle9: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle10: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle11: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle12: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + mode: manual + num_episode: 5 + object_config: + basket: + type: existed_object + uid_list: + - "05" + is_not_rigid: true + without_colliders: true + bottle1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle4: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle5: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle6: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle7: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle8: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle9: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + option: + - plain_replace + bottle10: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle11: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle12: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/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: [0.9, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/012/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_test_mini/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_test_mini/012/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_test_mini/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_test_mini/012/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/013/config.yaml b/tasks/ebench/mobile_manip/bottle_test_mini/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_test_mini/013/config.yaml @@ -0,0 +1,1121 @@ +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$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: bottle1 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle1 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle2 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle2 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle3 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle3 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle10 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle10 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle9 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle9 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle11 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle11 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle8 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle8 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle12 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle12 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle7 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle7 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle4 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle4 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle5 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle5 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle6 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle6 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle3 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle4 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle5 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle6 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle7 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle8 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle9 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle10 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle11 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle12 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + mode: manual + planner: curobo + instruction: Sort all the bottles into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bottle1: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle2: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle3: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle4: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle5: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle6: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle7: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle8: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle9: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle10: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle11: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle12: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + mode: manual + num_episode: 5 + object_config: + basket: + type: existed_object + uid_list: + - "05" + is_not_rigid: true + without_colliders: true + bottle1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle4: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle5: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle6: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle7: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle8: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle9: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + option: + - plain_replace + bottle10: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle11: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle12: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/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: [0.9, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/013/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_test_mini/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_test_mini/013/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_test_mini/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_test_mini/013/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/014/config.yaml b/tasks/ebench/mobile_manip/bottle_test_mini/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_test_mini/014/config.yaml @@ -0,0 +1,1121 @@ +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$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: bottle1 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle1 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle2 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle2 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle3 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle3 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle10 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle10 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle9 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle9 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle11 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle11 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle8 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle8 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle12 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle12 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle7 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle7 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle4 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle4 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle5 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle5 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle6 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle6 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle3 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle4 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle5 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle6 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle7 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle8 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle9 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle10 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle11 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle12 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + mode: manual + planner: curobo + instruction: Sort all the bottles into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bottle1: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle2: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle3: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle4: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle5: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle6: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle7: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle8: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle9: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle10: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle11: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle12: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + mode: manual + num_episode: 5 + object_config: + basket: + type: existed_object + uid_list: + - "05" + is_not_rigid: true + without_colliders: true + bottle1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle4: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle5: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle6: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle7: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle8: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle9: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + option: + - plain_replace + bottle10: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle11: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle12: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/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: [0.9, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/014/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_test_mini/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_test_mini/014/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_test_mini/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_test_mini/014/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/015/config.yaml b/tasks/ebench/mobile_manip/bottle_test_mini/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_test_mini/015/config.yaml @@ -0,0 +1,1121 @@ +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$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: bottle1 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle1 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle2 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle2 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle3 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle3 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle10 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle10 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle9 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle9 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle11 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle11 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle8 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle8 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle12 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle12 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle7 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle7 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle4 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle4 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle5 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle5 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle6 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle6 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle3 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle4 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle5 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle6 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle7 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle8 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle9 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle10 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle11 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle12 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + mode: manual + planner: curobo + instruction: Sort all the bottles into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bottle1: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle2: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle3: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle4: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle5: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle6: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle7: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle8: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle9: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle10: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle11: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle12: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + mode: manual + num_episode: 5 + object_config: + basket: + type: existed_object + uid_list: + - "05" + is_not_rigid: true + without_colliders: true + bottle1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle4: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle5: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle6: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle7: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle8: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle9: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + option: + - plain_replace + bottle10: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle11: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle12: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/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: [0.9, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/015/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_test_mini/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_test_mini/015/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_test_mini/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_test_mini/015/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/016/config.yaml b/tasks/ebench/mobile_manip/bottle_test_mini/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_test_mini/016/config.yaml @@ -0,0 +1,1121 @@ +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$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: bottle1 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle1 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle2 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle2 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle3 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle3 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle10 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle10 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle9 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle9 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle11 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle11 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle8 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle8 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle12 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle12 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle7 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle7 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle4 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle4 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle5 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle5 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle6 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle6 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle3 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle4 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle5 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle6 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle7 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle8 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle9 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle10 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle11 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle12 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + mode: manual + planner: curobo + instruction: Sort all the bottles into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bottle1: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle2: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle3: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle4: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle5: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle6: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle7: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle8: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle9: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle10: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle11: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle12: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + mode: manual + num_episode: 5 + object_config: + basket: + type: existed_object + uid_list: + - "05" + is_not_rigid: true + without_colliders: true + bottle1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle4: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle5: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle6: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle7: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle8: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle9: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + option: + - plain_replace + bottle10: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle11: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle12: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/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: [0.9, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/016/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_test_mini/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_test_mini/016/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_test_mini/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_test_mini/016/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/017/config.yaml b/tasks/ebench/mobile_manip/bottle_test_mini/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_test_mini/017/config.yaml @@ -0,0 +1,1121 @@ +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$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: bottle1 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle1 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle2 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle2 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle3 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle3 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle10 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle10 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle9 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle9 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle11 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle11 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle8 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle8 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle12 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle12 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle7 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle7 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle4 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle4 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle5 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle5 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle6 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle6 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle3 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle4 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle5 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle6 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle7 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle8 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle9 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle10 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle11 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle12 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + mode: manual + planner: curobo + instruction: Sort all the bottles into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bottle1: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle2: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle3: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle4: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle5: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle6: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle7: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle8: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle9: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle10: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle11: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle12: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + mode: manual + num_episode: 5 + object_config: + basket: + type: existed_object + uid_list: + - "05" + is_not_rigid: true + without_colliders: true + bottle1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle4: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle5: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle6: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle7: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle8: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle9: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + option: + - plain_replace + bottle10: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle11: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle12: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/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: [0.9, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/017/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_test_mini/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_test_mini/017/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_test_mini/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_test_mini/017/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/018/config.yaml b/tasks/ebench/mobile_manip/bottle_test_mini/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_test_mini/018/config.yaml @@ -0,0 +1,1121 @@ +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$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: bottle1 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle1 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle2 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle2 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle3 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle3 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle10 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle10 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle9 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle9 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle11 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle11 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle8 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle8 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle12 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle12 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle7 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle7 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle4 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle4 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle5 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle5 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle6 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle6 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle3 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle4 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle5 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle6 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle7 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle8 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle9 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle10 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle11 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle12 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + mode: manual + planner: curobo + instruction: Sort all the bottles into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bottle1: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle2: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle3: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle4: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle5: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle6: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle7: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle8: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle9: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle10: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle11: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle12: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + mode: manual + num_episode: 5 + object_config: + basket: + type: existed_object + uid_list: + - "05" + is_not_rigid: true + without_colliders: true + bottle1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle4: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle5: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle6: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle7: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle8: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle9: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + option: + - plain_replace + bottle10: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle11: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle12: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/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: [0.9, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/018/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_test_mini/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_test_mini/018/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_test_mini/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_test_mini/018/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/019/config.yaml b/tasks/ebench/mobile_manip/bottle_test_mini/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_test_mini/019/config.yaml @@ -0,0 +1,1121 @@ +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$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: bottle1 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle1 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle2 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle2 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle3 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle3 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle10 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle10 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle9 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle9 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle11 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle11 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle8 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle8 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle12 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle12 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle7 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle7 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle4 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle4 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle5 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle5 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle6 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle6 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle3 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle4 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle5 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle6 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle7 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle8 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle9 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle10 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle11 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle12 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + mode: manual + planner: curobo + instruction: Sort all the bottles into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bottle1: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle2: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle3: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle4: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle5: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle6: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle7: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle8: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle9: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle10: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle11: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle12: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + mode: manual + num_episode: 5 + object_config: + basket: + type: existed_object + uid_list: + - "05" + is_not_rigid: true + without_colliders: true + bottle1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle4: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle5: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle6: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle7: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle8: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle9: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + option: + - plain_replace + bottle10: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle11: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle12: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/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: [0.9, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_test_mini/019/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_test_mini/019/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_test_mini/019/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_test_mini/019/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_test_mini/019/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/000/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/000/config.yaml @@ -0,0 +1,201 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + 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 + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + 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 + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + 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 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/000/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..af5cfa0bb6f52c2eb55c42010e5b7fc4a7d7df2c Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/001/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..af5cfa0bb6f52c2eb55c42010e5b7fc4a7d7df2c Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/002/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/002/config.yaml @@ -0,0 +1,201 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + 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 + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + 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 + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + 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 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/002/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..395142d0a942d5780f1f6036b881f418d397f74a Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/003/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/003/config.yaml @@ -0,0 +1,201 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + 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 + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + 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 + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + 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 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/003/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..af5cfa0bb6f52c2eb55c42010e5b7fc4a7d7df2c Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/004/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..af5cfa0bb6f52c2eb55c42010e5b7fc4a7d7df2c Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/005/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/005/config.yaml @@ -0,0 +1,201 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + 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 + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + 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 + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + 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 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/005/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..af5cfa0bb6f52c2eb55c42010e5b7fc4a7d7df2c Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/006/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..395142d0a942d5780f1f6036b881f418d397f74a Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/007/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..395142d0a942d5780f1f6036b881f418d397f74a Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/008/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/008/config.yaml @@ -0,0 +1,201 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + 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 + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + 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 + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + 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 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/008/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..af5cfa0bb6f52c2eb55c42010e5b7fc4a7d7df2c Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/009/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/009/config.yaml @@ -0,0 +1,201 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + 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 + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + 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 + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + 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 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/009/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..af5cfa0bb6f52c2eb55c42010e5b7fc4a7d7df2c Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/010/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..395142d0a942d5780f1f6036b881f418d397f74a Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/011/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/011/config.yaml @@ -0,0 +1,201 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + 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 + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + 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 + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + 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 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/011/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/011/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..395142d0a942d5780f1f6036b881f418d397f74a Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/012/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/012/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/012/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..395142d0a942d5780f1f6036b881f418d397f74a Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/012/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/013/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/013/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/013/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..395142d0a942d5780f1f6036b881f418d397f74a Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/013/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/014/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/014/config.yaml @@ -0,0 +1,201 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + 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 + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + 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 + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + 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 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/014/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/014/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/014/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..395142d0a942d5780f1f6036b881f418d397f74a Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/014/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/015/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/015/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/015/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ae50e17c7bbb49852ba15eac4bb53b9e48dea73d Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/015/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/016/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/016/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/016/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ae50e17c7bbb49852ba15eac4bb53b9e48dea73d Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/016/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/017/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/017/config.yaml @@ -0,0 +1,201 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + 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 + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + 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 + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + 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 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/017/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/017/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/017/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ae50e17c7bbb49852ba15eac4bb53b9e48dea73d Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/017/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/018/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/018/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/018/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..31706c7871566a0a4a1b549422a0838a55fb5d2b Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/018/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/019/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/019/config.yaml @@ -0,0 +1,201 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + 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 + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + 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 + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + 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 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/019/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/019/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/019/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/019/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/019/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..31706c7871566a0a4a1b549422a0838a55fb5d2b Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/019/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/020/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/020/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/020/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/020/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/020/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ae50e17c7bbb49852ba15eac4bb53b9e48dea73d Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/020/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/021/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/021/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/021/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/021/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/021/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d60e57c18653c6a2d73c6e63722e7a9c04384c13 Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/021/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/022/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/022/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/022/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/022/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/022/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d60e57c18653c6a2d73c6e63722e7a9c04384c13 Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/022/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/023/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/023/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/023/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/023/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/023/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..31706c7871566a0a4a1b549422a0838a55fb5d2b Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/023/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/024/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/024/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/024/config.yaml @@ -0,0 +1,201 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + 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 + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + 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 + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + 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 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/024/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/024/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/024/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/024/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/024/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d60e57c18653c6a2d73c6e63722e7a9c04384c13 Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/024/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/025/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/025/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/025/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/025/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/025/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ae50e17c7bbb49852ba15eac4bb53b9e48dea73d Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/025/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/026/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/026/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/026/config.yaml @@ -0,0 +1,201 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + 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 + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + 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 + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + 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 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/026/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/026/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/026/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/026/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/026/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..31706c7871566a0a4a1b549422a0838a55fb5d2b Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/026/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/027/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/027/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/027/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/027/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/027/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..31706c7871566a0a4a1b549422a0838a55fb5d2b Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/027/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/028/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/028/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/028/config.yaml @@ -0,0 +1,201 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + 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 + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + 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 + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + 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 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/028/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/028/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/028/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/028/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/028/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..31706c7871566a0a4a1b549422a0838a55fb5d2b Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/028/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/029/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/029/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/029/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/029/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/029/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ae50e17c7bbb49852ba15eac4bb53b9e48dea73d Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/029/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/030/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/030/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/030/config.yaml @@ -0,0 +1,201 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + 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 + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + 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 + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + 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 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/030/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/030/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/030/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/030/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/030/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..31706c7871566a0a4a1b549422a0838a55fb5d2b Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/030/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/031/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/031/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/031/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/031/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/031/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ae50e17c7bbb49852ba15eac4bb53b9e48dea73d Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/031/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/032/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/032/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/032/config.yaml @@ -0,0 +1,201 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + 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 + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + 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 + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + 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 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/032/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/032/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/032/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/032/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/032/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ae50e17c7bbb49852ba15eac4bb53b9e48dea73d Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/032/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/033/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/033/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/033/config.yaml @@ -0,0 +1,201 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + 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 + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + 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 + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + 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 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/033/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/033/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/033/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/033/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/033/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ae50e17c7bbb49852ba15eac4bb53b9e48dea73d Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/033/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/034/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/034/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/034/config.yaml @@ -0,0 +1,201 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + 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 + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + 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 + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + 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 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/034/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/034/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/034/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/034/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/034/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..31706c7871566a0a4a1b549422a0838a55fb5d2b Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/034/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/035/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/035/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/035/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/035/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/035/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ae50e17c7bbb49852ba15eac4bb53b9e48dea73d Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/035/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/036/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/036/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/036/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/036/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/036/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ae50e17c7bbb49852ba15eac4bb53b9e48dea73d Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/036/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/037/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/037/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/037/config.yaml @@ -0,0 +1,201 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + 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 + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + 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 + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + 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 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/037/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/037/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/037/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/037/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/037/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..31706c7871566a0a4a1b549422a0838a55fb5d2b Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/037/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/038/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/038/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/038/config.yaml @@ -0,0 +1,201 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + 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 + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + 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 + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + 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 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/038/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/038/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/038/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/038/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/038/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..31706c7871566a0a4a1b549422a0838a55fb5d2b Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/038/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/039/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/039/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/039/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/039/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/039/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ae50e17c7bbb49852ba15eac4bb53b9e48dea73d Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/039/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/040/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/040/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/040/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/040/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/040/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d60e57c18653c6a2d73c6e63722e7a9c04384c13 Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/040/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/041/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/041/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/041/config.yaml @@ -0,0 +1,201 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + 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 + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + 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 + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + 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 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/041/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/041/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/041/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/041/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/041/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d60e57c18653c6a2d73c6e63722e7a9c04384c13 Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/041/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/042/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/042/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/042/config.yaml @@ -0,0 +1,201 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + 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 + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + 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 + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + 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 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/042/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/042/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/042/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/042/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/042/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..31706c7871566a0a4a1b549422a0838a55fb5d2b Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/042/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/043/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/043/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/043/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/043/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/043/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..31706c7871566a0a4a1b549422a0838a55fb5d2b Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/043/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/044/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/044/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/044/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/044/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/044/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d60e57c18653c6a2d73c6e63722e7a9c04384c13 Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/044/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/045/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/045/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/045/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/045/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/045/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..af5cfa0bb6f52c2eb55c42010e5b7fc4a7d7df2c Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/045/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/046/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/046/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/046/config.yaml @@ -0,0 +1,201 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + 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 + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + 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 + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + 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 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/046/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/046/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/046/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/046/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/046/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..af5cfa0bb6f52c2eb55c42010e5b7fc4a7d7df2c Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/046/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/047/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/047/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/047/config.yaml @@ -0,0 +1,201 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + 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 + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + 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 + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + 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 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/047/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/047/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/047/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/047/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/047/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..af5cfa0bb6f52c2eb55c42010e5b7fc4a7d7df2c Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/047/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/048/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/048/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/048/config.yaml @@ -0,0 +1,201 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + 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 + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + 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 + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + 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 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/048/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/048/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/048/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/048/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/048/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..af5cfa0bb6f52c2eb55c42010e5b7fc4a7d7df2c Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/048/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/049/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/049/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/049/config.yaml @@ -0,0 +1,201 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + 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 + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + 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 + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + 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 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/049/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/049/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/049/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/049/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/049/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..af5cfa0bb6f52c2eb55c42010e5b7fc4a7d7df2c Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/049/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/050/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/050/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/050/config.yaml @@ -0,0 +1,201 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + 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 + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + 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 + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + 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 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/050/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/050/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/050/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/050/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/050/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..af5cfa0bb6f52c2eb55c42010e5b7fc4a7d7df2c Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/050/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/051/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/051/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/051/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/051/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/051/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..af5cfa0bb6f52c2eb55c42010e5b7fc4a7d7df2c Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/051/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/052/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/052/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/052/config.yaml @@ -0,0 +1,201 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + 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 + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + 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 + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + 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 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/052/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/052/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/052/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/052/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/052/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..af5cfa0bb6f52c2eb55c42010e5b7fc4a7d7df2c Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/052/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/053/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/053/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/053/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/053/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/053/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..af5cfa0bb6f52c2eb55c42010e5b7fc4a7d7df2c Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/053/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/054/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/054/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/054/config.yaml @@ -0,0 +1,201 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + 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 + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + 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 + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + 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 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/054/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/054/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/054/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/054/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/054/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..395142d0a942d5780f1f6036b881f418d397f74a Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/054/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/055/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/055/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/055/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/055/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/055/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..395142d0a942d5780f1f6036b881f418d397f74a Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/055/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/056/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/056/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/056/config.yaml @@ -0,0 +1,201 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + 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 + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + 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 + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + 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 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/056/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/056/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/056/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/056/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/056/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..395142d0a942d5780f1f6036b881f418d397f74a Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/056/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/057/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/057/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/057/config.yaml @@ -0,0 +1,201 @@ +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 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + 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 + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + 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 + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + 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 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/057/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate/057/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/057/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/057/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate/057/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..395142d0a942d5780f1f6036b881f418d397f74a Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate/057/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/058/lmdb/info.json 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0000000000000000000000000000000000000000..cd37eef11d12caa86e4682ace8626742b1faf5df --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_train/004/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6093233b2e5f1157fc70a809104b5802d88c8d2ba7db0b415ed22b3e5ad371a1 +size 13204 diff --git a/tasks/ebench/mobile_manip/make_sandwich/000/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/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/000/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/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/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/001/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/001/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/001/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/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/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/002/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/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/002/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/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/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/003/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/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/003/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/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/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/004/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/004/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/004/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/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/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/005/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/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/005/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/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/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/006/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/006/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/006/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/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/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/007/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/007/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/007/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/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/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/008/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/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/008/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/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/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/009/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/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/009/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/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/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/010/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/010/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/010/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/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/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/011/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/011/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/011/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/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/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/012/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/012/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/012/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/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/012/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/012/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/013/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/013/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/013/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/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/013/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/013/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/014/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/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/014/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/014/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich/014/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/014/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/015/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/015/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/015/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/015/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich/015/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/015/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/016/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/016/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/016/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/016/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich/016/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/016/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/017/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/017/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/017/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/017/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich/017/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/017/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/018/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/018/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/018/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/018/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich/018/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/018/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/019/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/019/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/019/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/019/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/019/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich/019/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/019/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/019/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/020/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/020/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/020/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/020/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/020/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/020/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich/020/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/020/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/020/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/021/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/021/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/021/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/021/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/021/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/021/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich/021/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/021/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/021/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/022/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/022/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/022/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/022/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/022/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/022/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich/022/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/022/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/022/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/023/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/023/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/023/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/023/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/023/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/023/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich/023/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/023/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/023/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/024/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/024/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/024/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/024/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/024/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/024/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich/024/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/024/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/024/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/025/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/025/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/025/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/025/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/025/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/025/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich/025/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/025/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/025/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/026/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/026/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/026/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/026/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/026/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/026/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich/026/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/026/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/026/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/027/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/027/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/027/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/027/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/027/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/027/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich/027/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/027/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/027/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/028/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/028/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/028/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/028/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/028/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/028/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich/028/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/028/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/028/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/029/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/029/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/029/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/029/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/029/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/029/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich/029/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/029/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/029/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/030/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/030/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/030/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/030/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/030/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/030/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich/030/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/030/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/030/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/031/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/031/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/031/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/031/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/031/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/031/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich/031/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/031/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/031/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/032/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/032/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/032/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/032/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/032/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/032/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich/032/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/032/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/032/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/033/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/033/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/033/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/033/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/033/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/033/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich/033/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/033/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/033/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/034/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/034/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/034/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/034/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/034/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/034/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich/034/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/034/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/034/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/035/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/035/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/035/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/035/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/035/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/035/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich/035/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/035/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/035/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/036/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/036/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/036/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/036/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/036/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/036/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich/036/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/036/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/036/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/037/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/037/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/037/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/037/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/037/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/037/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich/037/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/037/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/037/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/038/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/038/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/038/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/038/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/038/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/038/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich/038/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/038/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/038/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/039/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/039/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/039/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/039/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/039/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/039/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich/039/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/039/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/039/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/040/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/040/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/040/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/040/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/040/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/040/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich/040/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/040/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/040/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/041/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/041/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/041/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/041/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/041/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/041/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich/041/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/041/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/041/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/042/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/042/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/042/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/042/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/042/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/042/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich/042/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/042/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/042/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/043/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/043/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/043/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/043/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/043/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/043/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich/043/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/043/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich/043/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich/044/config.yaml b/tasks/ebench/mobile_manip/make_sandwich/044/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/044/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/044/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich/044/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich/044/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich/044/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich/044/lmdb/lock.mdb new file mode 100644 index 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+size 2117632 diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/005/meta_info.pkl b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/005/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..db13bd4fa1d8296cd6dad16bb33a6a52b1b94e7a --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/005/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9026157b91ceb930d1e6e39eb263957c959f5dd1ed7f1e656863e03ad0a4d3de +size 8839 diff --git a/tasks/ebench/mobile_manip/shop/000/config.yaml b/tasks/ebench/mobile_manip/shop/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/000/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/001/config.yaml b/tasks/ebench/mobile_manip/shop/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/001/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/002/config.yaml b/tasks/ebench/mobile_manip/shop/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/002/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/003/config.yaml b/tasks/ebench/mobile_manip/shop/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/003/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/004/config.yaml b/tasks/ebench/mobile_manip/shop/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/004/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/005/config.yaml b/tasks/ebench/mobile_manip/shop/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/005/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/006/config.yaml b/tasks/ebench/mobile_manip/shop/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/006/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/007/config.yaml b/tasks/ebench/mobile_manip/shop/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/007/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/010/config.yaml b/tasks/ebench/mobile_manip/shop/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/010/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/011/config.yaml b/tasks/ebench/mobile_manip/shop/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/011/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/012/config.yaml b/tasks/ebench/mobile_manip/shop/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/012/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/013/config.yaml b/tasks/ebench/mobile_manip/shop/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/013/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/014/config.yaml b/tasks/ebench/mobile_manip/shop/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/014/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/015/config.yaml b/tasks/ebench/mobile_manip/shop/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/015/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/016/config.yaml b/tasks/ebench/mobile_manip/shop/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/016/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/017/config.yaml b/tasks/ebench/mobile_manip/shop/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/017/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/018/config.yaml b/tasks/ebench/mobile_manip/shop/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/018/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/019/config.yaml b/tasks/ebench/mobile_manip/shop/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/019/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/020/config.yaml b/tasks/ebench/mobile_manip/shop/020/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/020/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/021/config.yaml b/tasks/ebench/mobile_manip/shop/021/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/021/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/022/config.yaml b/tasks/ebench/mobile_manip/shop/022/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/022/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/023/config.yaml b/tasks/ebench/mobile_manip/shop/023/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/023/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/024/config.yaml b/tasks/ebench/mobile_manip/shop/024/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/024/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/025/config.yaml b/tasks/ebench/mobile_manip/shop/025/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/025/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/026/config.yaml b/tasks/ebench/mobile_manip/shop/026/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/026/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/027/config.yaml b/tasks/ebench/mobile_manip/shop/027/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/027/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/028/config.yaml b/tasks/ebench/mobile_manip/shop/028/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/028/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/029/config.yaml b/tasks/ebench/mobile_manip/shop/029/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/029/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/030/config.yaml b/tasks/ebench/mobile_manip/shop/030/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/030/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/031/config.yaml b/tasks/ebench/mobile_manip/shop/031/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/031/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/033/config.yaml b/tasks/ebench/mobile_manip/shop/033/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/033/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/034/config.yaml b/tasks/ebench/mobile_manip/shop/034/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/034/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/035/config.yaml b/tasks/ebench/mobile_manip/shop/035/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/035/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/036/config.yaml b/tasks/ebench/mobile_manip/shop/036/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/036/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/037/config.yaml b/tasks/ebench/mobile_manip/shop/037/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/037/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/038/config.yaml b/tasks/ebench/mobile_manip/shop/038/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/038/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/039/config.yaml b/tasks/ebench/mobile_manip/shop/039/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/039/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/040/config.yaml b/tasks/ebench/mobile_manip/shop/040/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/040/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/041/config.yaml b/tasks/ebench/mobile_manip/shop/041/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/041/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/042/config.yaml b/tasks/ebench/mobile_manip/shop/042/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/042/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/043/config.yaml b/tasks/ebench/mobile_manip/shop/043/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/043/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/044/config.yaml b/tasks/ebench/mobile_manip/shop/044/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/044/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/045/config.yaml b/tasks/ebench/mobile_manip/shop/045/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/045/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/046/config.yaml b/tasks/ebench/mobile_manip/shop/046/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/046/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/047/config.yaml b/tasks/ebench/mobile_manip/shop/047/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/047/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/048/config.yaml b/tasks/ebench/mobile_manip/shop/048/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/048/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/049/config.yaml b/tasks/ebench/mobile_manip/shop/049/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/049/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/051/config.yaml b/tasks/ebench/mobile_manip/shop/051/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/051/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/052/config.yaml b/tasks/ebench/mobile_manip/shop/052/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/052/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/053/config.yaml b/tasks/ebench/mobile_manip/shop/053/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/053/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/054/config.yaml b/tasks/ebench/mobile_manip/shop/054/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/054/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/055/config.yaml b/tasks/ebench/mobile_manip/shop/055/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/055/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/056/config.yaml b/tasks/ebench/mobile_manip/shop/056/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/056/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/058/config.yaml b/tasks/ebench/mobile_manip/shop/058/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/058/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/059/config.yaml b/tasks/ebench/mobile_manip/shop/059/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/059/config.yaml @@ -0,0 +1,1018 @@ +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/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + 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, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/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: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file