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0000000000000000000000000000000000000000..b2166e0f1811fc6ca04cd087c17d52b903946024 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/Kitchen_Shelf001.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:219215bfa1dcbc2aef43a65ad411f6c3fdbdb57a9de544db0d9b315185bc56c7 +size 1950573 diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/Kitchen_Shelf001.usda b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/Kitchen_Shelf001.usda new file mode 100644 index 0000000000000000000000000000000000000000..80ef093678dc99076fe852ec86797166565c5ec9 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/Kitchen_Shelf001.usda @@ -0,0 +1,78 @@ +#usda 1.0 +( + customLayerData = { + dictionary omni_layer = { + dictionary locked = { + } + dictionary muteness = { + } + } + dictionary renderSettings = { + float3 "rtx:debugView:pixelDebug:textColor" = (0, 1e18, 0) + float3 "rtx:fog:fogColor" = (0.75, 0.75, 0.75) + float3 "rtx:index:backgroundColor" = (0, 0, 0) + float3 "rtx:index:regionOfInterestMax" = (0, 0, 0) + float3 "rtx:index:regionOfInterestMin" = (0, 0, 0) + float3 "rtx:post:backgroundZeroAlpha:backgroundDefaultColor" = (0, 0, 0) + float3 "rtx:post:colorcorr:contrast" = (1, 1, 1) + float3 "rtx:post:colorcorr:gain" = (1, 1, 1) + float3 "rtx:post:colorcorr:gamma" = (1, 1, 1) + float3 "rtx:post:colorcorr:offset" = (0, 0, 0) + float3 "rtx:post:colorcorr:saturation" = (1, 1, 1) + float3 "rtx:post:colorgrad:blackpoint" = (0, 0, 0) + float3 "rtx:post:colorgrad:contrast" = (1, 1, 1) + float3 "rtx:post:colorgrad:gain" = (1, 1, 1) + float3 "rtx:post:colorgrad:gamma" = (1, 1, 1) + float3 "rtx:post:colorgrad:lift" = (0, 0, 0) + float3 "rtx:post:colorgrad:multiply" = (1, 1, 1) + float3 "rtx:post:colorgrad:offset" = (0, 0, 0) + float3 "rtx:post:colorgrad:whitepoint" = (1, 1, 1) + float3 "rtx:post:lensDistortion:lensFocalLengthArray" = (10, 30, 50) + float3 "rtx:post:lensFlares:anisoFlareFalloffX" = (450, 475, 500) + float3 "rtx:post:lensFlares:anisoFlareFalloffY" = (10, 10, 10) + float3 "rtx:post:lensFlares:cutoffPoint" = (2, 2, 2) + float3 "rtx:post:lensFlares:haloFlareFalloff" = (10, 10, 10) + float3 "rtx:post:lensFlares:haloFlareRadius" = (75, 75, 75) + float3 "rtx:post:lensFlares:isotropicFlareFalloff" = (50, 50, 50) + float3 "rtx:post:tonemap:whitepoint" = (1, 1, 1) + float3 "rtx:raytracing:indexdirect:svoBrickSize" = (32, 32, 32) + float3 "rtx:raytracing:inscattering:singleScatteringAlbedo" = (0.9, 0.9, 0.9) + float3 "rtx:raytracing:inscattering:transmittanceColor" = (0.5, 0.5, 0.5) + float3 "rtx:sceneDb:ambientLightColor" = (0.1, 0.1, 0.1) + double "rtx:translucency:worldEps" = 0.005 + } + } + defaultPrim = "World" + endTimeCode = 1000000 + metersPerUnit = 1.0 + startTimeCode = 0 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +over "Render" ( + hide_in_stage_window = true +) +{ +} + +def Xform "World" +{ + def "_Kitchen_Shelf001" ( + prepend payload = @./Kitchen_Shelf001.usd@ + ) + { + float3 xformOp:rotateXYZ = (0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] + } +} + +def Xform "Environment" +{ + double3 xformOp:rotateXYZ = (0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] +} diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/MV7J6NIKTKJZ2AABAAAAADI8_usd_kitchen_0.usd b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/MV7J6NIKTKJZ2AABAAAAADI8_usd_kitchen_0.usd new file mode 100644 index 0000000000000000000000000000000000000000..c01d9fc5b36723b9bc7472423d1e147f159a3771 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/MV7J6NIKTKJZ2AABAAAAADI8_usd_kitchen_0.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:efb2901fc4027be325a5d69efbb3bd9a817a73ceb859a26e8a9b65fd1ea4f9ba +size 221463173 diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/MV7J6NIKTKJZ2AABAAAAADI8_usd_kitchen_0.usda b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/MV7J6NIKTKJZ2AABAAAAADI8_usd_kitchen_0.usda new file mode 100644 index 0000000000000000000000000000000000000000..728bcafd70b26497f59663b70abe6b59fe2a1665 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/MV7J6NIKTKJZ2AABAAAAADI8_usd_kitchen_0.usda @@ -0,0 +1,78 @@ +#usda 1.0 +( + customLayerData = { + dictionary omni_layer = { + dictionary locked = { + } + dictionary muteness = { + } + } + dictionary renderSettings = { + float3 "rtx:debugView:pixelDebug:textColor" = (0, 1e18, 0) + float3 "rtx:fog:fogColor" = (0.75, 0.75, 0.75) + float3 "rtx:index:backgroundColor" = (0, 0, 0) + float3 "rtx:index:regionOfInterestMax" = (0, 0, 0) + float3 "rtx:index:regionOfInterestMin" = (0, 0, 0) + float3 "rtx:post:backgroundZeroAlpha:backgroundDefaultColor" = (0, 0, 0) + float3 "rtx:post:colorcorr:contrast" = (1, 1, 1) + float3 "rtx:post:colorcorr:gain" = (1, 1, 1) + float3 "rtx:post:colorcorr:gamma" = (1, 1, 1) + float3 "rtx:post:colorcorr:offset" = (0, 0, 0) + float3 "rtx:post:colorcorr:saturation" = (1, 1, 1) + float3 "rtx:post:colorgrad:blackpoint" = (0, 0, 0) + float3 "rtx:post:colorgrad:contrast" = (1, 1, 1) + float3 "rtx:post:colorgrad:gain" = (1, 1, 1) + float3 "rtx:post:colorgrad:gamma" = (1, 1, 1) + float3 "rtx:post:colorgrad:lift" = (0, 0, 0) + float3 "rtx:post:colorgrad:multiply" = (1, 1, 1) + float3 "rtx:post:colorgrad:offset" = (0, 0, 0) + float3 "rtx:post:colorgrad:whitepoint" = (1, 1, 1) + float3 "rtx:post:lensDistortion:lensFocalLengthArray" = (10, 30, 50) + float3 "rtx:post:lensFlares:anisoFlareFalloffX" = (450, 475, 500) + float3 "rtx:post:lensFlares:anisoFlareFalloffY" = (10, 10, 10) + float3 "rtx:post:lensFlares:cutoffPoint" = (2, 2, 2) + float3 "rtx:post:lensFlares:haloFlareFalloff" = (10, 10, 10) + float3 "rtx:post:lensFlares:haloFlareRadius" = (75, 75, 75) + float3 "rtx:post:lensFlares:isotropicFlareFalloff" = (50, 50, 50) + float3 "rtx:post:tonemap:whitepoint" = (1, 1, 1) + float3 "rtx:raytracing:indexdirect:svoBrickSize" = (32, 32, 32) + float3 "rtx:raytracing:inscattering:singleScatteringAlbedo" = (0.9, 0.9, 0.9) + float3 "rtx:raytracing:inscattering:transmittanceColor" = (0.5, 0.5, 0.5) + float3 "rtx:sceneDb:ambientLightColor" = (0.1, 0.1, 0.1) + double "rtx:translucency:worldEps" = 0.005 + } + } + defaultPrim = "World" + endTimeCode = 1000000 + metersPerUnit = 1.0 + startTimeCode = 0 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +over "Render" ( + hide_in_stage_window = true +) +{ +} + +def Xform "World" +{ + def "_MV7J6NIKTKJZ2AABAAAAADI8_usd_kitchen_0" ( + prepend payload = @./MV7J6NIKTKJZ2AABAAAAADI8_usd_kitchen_0.usd@ + ) + { + float3 xformOp:rotateXYZ = (0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] + } +} + +def Xform "Environment" +{ + double3 xformOp:rotateXYZ = (0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] +} diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/SM_P_Flavour_02.usd b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/SM_P_Flavour_02.usd new file mode 100644 index 0000000000000000000000000000000000000000..645b26b2bd62524c03de1c72657d9910e0911a1b --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/SM_P_Flavour_02.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f1b152eed3d01c474ac38ad79939ee2bca4c97bfb307a1e0130b02b1fdba2401 +size 8969435 diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/SM_P_Flavour_02.usda b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/SM_P_Flavour_02.usda new file mode 100644 index 0000000000000000000000000000000000000000..4200e6f633a6362cf4811d65194bf296166f1656 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/SM_P_Flavour_02.usda @@ -0,0 +1,78 @@ +#usda 1.0 +( + customLayerData = { + dictionary omni_layer = { + dictionary locked = { + } + dictionary muteness = { + } + } + dictionary renderSettings = { + float3 "rtx:debugView:pixelDebug:textColor" = (0, 1e18, 0) + float3 "rtx:fog:fogColor" = (0.75, 0.75, 0.75) + float3 "rtx:index:backgroundColor" = (0, 0, 0) + float3 "rtx:index:regionOfInterestMax" = (0, 0, 0) + float3 "rtx:index:regionOfInterestMin" = (0, 0, 0) + float3 "rtx:post:backgroundZeroAlpha:backgroundDefaultColor" = (0, 0, 0) + float3 "rtx:post:colorcorr:contrast" = (1, 1, 1) + float3 "rtx:post:colorcorr:gain" = (1, 1, 1) + float3 "rtx:post:colorcorr:gamma" = (1, 1, 1) + float3 "rtx:post:colorcorr:offset" = (0, 0, 0) + float3 "rtx:post:colorcorr:saturation" = (1, 1, 1) + float3 "rtx:post:colorgrad:blackpoint" = (0, 0, 0) + float3 "rtx:post:colorgrad:contrast" = (1, 1, 1) + float3 "rtx:post:colorgrad:gain" = (1, 1, 1) + float3 "rtx:post:colorgrad:gamma" = (1, 1, 1) + float3 "rtx:post:colorgrad:lift" = (0, 0, 0) + float3 "rtx:post:colorgrad:multiply" = (1, 1, 1) + float3 "rtx:post:colorgrad:offset" = (0, 0, 0) + float3 "rtx:post:colorgrad:whitepoint" = (1, 1, 1) + float3 "rtx:post:lensDistortion:lensFocalLengthArray" = (10, 30, 50) + float3 "rtx:post:lensFlares:anisoFlareFalloffX" = (450, 475, 500) + float3 "rtx:post:lensFlares:anisoFlareFalloffY" = (10, 10, 10) + float3 "rtx:post:lensFlares:cutoffPoint" = (2, 2, 2) + float3 "rtx:post:lensFlares:haloFlareFalloff" = (10, 10, 10) + float3 "rtx:post:lensFlares:haloFlareRadius" = (75, 75, 75) + float3 "rtx:post:lensFlares:isotropicFlareFalloff" = (50, 50, 50) + float3 "rtx:post:tonemap:whitepoint" = (1, 1, 1) + float3 "rtx:raytracing:indexdirect:svoBrickSize" = (32, 32, 32) + float3 "rtx:raytracing:inscattering:singleScatteringAlbedo" = (0.9, 0.9, 0.9) + float3 "rtx:raytracing:inscattering:transmittanceColor" = (0.5, 0.5, 0.5) + float3 "rtx:sceneDb:ambientLightColor" = (0.1, 0.1, 0.1) + double "rtx:translucency:worldEps" = 0.005 + } + } + defaultPrim = "World" + endTimeCode = 1000000 + metersPerUnit = 1.0 + startTimeCode = 0 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +over "Render" ( + hide_in_stage_window = true +) +{ +} + +def Xform "World" +{ + def "_SM_P_Flavour_02" ( + prepend payload = @./SM_P_Flavour_02.usd@ + ) + { + float3 xformOp:rotateXYZ = (0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] + } +} + +def Xform "Environment" +{ + double3 xformOp:rotateXYZ = (0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] +} diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/instance.usd b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/instance.usd new file mode 100644 index 0000000000000000000000000000000000000000..ee9f2b01c28e4441da862e534fe7a92ae6757d2a --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/instance.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d43ea6ba7ce53ddde7c81930bfdbfcb1b5f437519422c89a40695324b02a085 +size 913372 diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/instance.usda b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/instance.usda new file mode 100644 index 0000000000000000000000000000000000000000..f6d300f4e0478635a99547a874ee7f192385b4a6 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/instance.usda @@ -0,0 +1,78 @@ +#usda 1.0 +( + customLayerData = { + dictionary omni_layer = { + dictionary locked = { + } + dictionary muteness = { + } + } + dictionary renderSettings = { + float3 "rtx:debugView:pixelDebug:textColor" = (0, 1e18, 0) + float3 "rtx:fog:fogColor" = (0.75, 0.75, 0.75) + float3 "rtx:index:backgroundColor" = (0, 0, 0) + float3 "rtx:index:regionOfInterestMax" = (0, 0, 0) + float3 "rtx:index:regionOfInterestMin" = (0, 0, 0) + float3 "rtx:post:backgroundZeroAlpha:backgroundDefaultColor" = (0, 0, 0) + float3 "rtx:post:colorcorr:contrast" = (1, 1, 1) + float3 "rtx:post:colorcorr:gain" = (1, 1, 1) + float3 "rtx:post:colorcorr:gamma" = (1, 1, 1) + float3 "rtx:post:colorcorr:offset" = (0, 0, 0) + float3 "rtx:post:colorcorr:saturation" = (1, 1, 1) + float3 "rtx:post:colorgrad:blackpoint" = (0, 0, 0) + float3 "rtx:post:colorgrad:contrast" = (1, 1, 1) + float3 "rtx:post:colorgrad:gain" = (1, 1, 1) + float3 "rtx:post:colorgrad:gamma" = (1, 1, 1) + float3 "rtx:post:colorgrad:lift" = (0, 0, 0) + float3 "rtx:post:colorgrad:multiply" = (1, 1, 1) + float3 "rtx:post:colorgrad:offset" = (0, 0, 0) + float3 "rtx:post:colorgrad:whitepoint" = (1, 1, 1) + float3 "rtx:post:lensDistortion:lensFocalLengthArray" = (10, 30, 50) + float3 "rtx:post:lensFlares:anisoFlareFalloffX" = (450, 475, 500) + float3 "rtx:post:lensFlares:anisoFlareFalloffY" = (10, 10, 10) + float3 "rtx:post:lensFlares:cutoffPoint" = (2, 2, 2) + float3 "rtx:post:lensFlares:haloFlareFalloff" = (10, 10, 10) + float3 "rtx:post:lensFlares:haloFlareRadius" = (75, 75, 75) + float3 "rtx:post:lensFlares:isotropicFlareFalloff" = (50, 50, 50) + float3 "rtx:post:tonemap:whitepoint" = (1, 1, 1) + float3 "rtx:raytracing:indexdirect:svoBrickSize" = (32, 32, 32) + float3 "rtx:raytracing:inscattering:singleScatteringAlbedo" = (0.9, 0.9, 0.9) + float3 "rtx:raytracing:inscattering:transmittanceColor" = (0.5, 0.5, 0.5) + float3 "rtx:sceneDb:ambientLightColor" = (0.1, 0.1, 0.1) + double "rtx:translucency:worldEps" = 0.005 + } + } + defaultPrim = "World" + endTimeCode = 1000000 + metersPerUnit = 1.0 + startTimeCode = 0 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +over "Render" ( + hide_in_stage_window = true +) +{ +} + +def Xform "World" +{ + def "_instance" ( + prepend payload = @./instance.usd@ + ) + { + float3 xformOp:rotateXYZ = (0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] + } +} + +def Xform "Environment" +{ + double3 xformOp:rotateXYZ = (0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] +} diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/DayMaterial.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/DayMaterial.mdl new file mode 100644 index 0000000000000000000000000000000000000000..4abcb47acba14d1a4702258b013c9f5ff578be49 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/DayMaterial.mdl @@ -0,0 +1,67 @@ +mdl 1.6; + +import ::math::*; +import ::state::*; +import ::tex::*; +import ::anno::*; +using OmniUe4Function import *; +using OmniUe4Translucent import *; + +export annotation sampler_color(); +export annotation sampler_normal(); +export annotation sampler_grayscale(); +export annotation sampler_alpha(); +export annotation sampler_masks(); +export annotation sampler_distancefield(); +export annotation dither_masked_off(); +export annotation world_space_normal(); + +export material DayMaterial( + float Flat = 1.0 + [[ + anno::display_name("Flat"), + anno::ui_order(32) + ]], + uniform texture_2d img = texture_2d("../textures/MV7J6NIKTKJZ2AABAAAAADI8_usd_kitchen_0/white.png",::tex::gamma_srgb) + [[ + anno::display_name("img"), + anno::ui_order(32), + sampler_color() + ]], + int MaxTexCoordIndex = 3 + [[ + anno::hidden() + ]]) + = + let { + float3 WorldPositionOffset_mdl = float3(0.0,0.0,0.0); + float2 CustomizedUV0_mdl = float2(state::texture_coordinate(math::min(0,MaxTexCoordIndex)).x,1.0-state::texture_coordinate(math::min(0,MaxTexCoordIndex)).y); + + + float3 Normal_mdl = float3(0.0,0.0,1.0); + + float4 Local0 = tex::lookup_float4(img,float2(CustomizedUV0_mdl.x,1.0-CustomizedUV0_mdl.y),tex::wrap_repeat,tex::wrap_repeat); + float3 Local1 = (Flat * float3(Local0.x,Local0.y,Local0.z)); + + float3 EmissiveColor_mdl = Local1; + float Opacity_mdl = Local0.w; + float OpacityMask_mdl = (math::saturate(Local0.w) - 1.0f / 255.0f) < 0.0f ? 0.0f : 1.0f; + float3 BaseColor_mdl = float3(0.0,0.0,0.0); + float Metallic_mdl = 0.0; + float Specular_mdl = 0.5; + float Roughness_mdl = 0.5; + float2 Refraction_mdl = float2(float2(1.0,0.0).x,float2(1.0,0.0).x); + + } in + ::OmniUe4Translucent( + base_color: BaseColor_mdl, + metallic: Metallic_mdl, + roughness: Roughness_mdl, + specular: Specular_mdl, + normal: Normal_mdl, + opacity: Opacity_mdl, + opacity_mask: OpacityMask_mdl, + emissive_color: EmissiveColor_mdl, + displacement: WorldPositionOffset_mdl, + refraction: Refraction_mdl.x, + two_sided: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/KooPbr.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/KooPbr.mdl new file mode 100644 index 0000000000000000000000000000000000000000..5e993afd51fcee2e32fb4d95cd3570aff2eb9405 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/KooPbr.mdl @@ -0,0 +1,462 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::anno::*; +import ::df::*; +import ::df::color_weighted_layer; +import ::math::*; +import ::state::*; + +export material KooMtl2Sided( + material frontMtl = material() [[ + anno::in_group("Parameters"), + anno::display_name("Front material") + ]], + material backMtl = frontMtl [[ + anno::in_group("Parameters"), + anno::display_name("Back material") + ]], + uniform bool use_backMtl = false [[ + anno::in_group("Parameters"), + anno::display_name("Use back material") + ]], + color translucency = color(0.5f, 0.5f, 0.5f) [[ + anno::in_group("Basic parameters"), + anno::display_name("Translucency") + ]], + color front_tint = color(1.f, 1.f, 1.f) [[ + anno::in_group("Parameters"), + anno::display_name("Front tint"), + anno::hidden() + ]], + color back_tint = color(1.f, 1.f, 1.f) [[ + anno::in_group("Parameters"), + anno::display_name("Back tint"), + anno::hidden() + ]], + uniform bool multiply_by_front_diffuse = false [[ + anno::in_group("Basic parameters"), + anno::display_name("Multiply by front diffuse"), + anno::unused(), + anno::hidden() + ]]) +[[ + anno::author("KooLab") +]] + = + let { + bsdf transmission_bsdf = + df::diffuse_transmission_bsdf(tint: (front_tint + back_tint)*0.5f); + + bsdf front_bsdf = + df::color_weighted_layer + ( + weight : translucency, + layer : transmission_bsdf, + base : frontMtl.surface.scattering + ); + + bsdf back_bsdf = + df::color_weighted_layer + ( + weight : translucency, + layer : transmission_bsdf, + base : backMtl.surface.scattering + ); + } in + material( + thin_walled: true, + ior: frontMtl.ior, + surface: material_surface(scattering: front_bsdf), + backface: material_surface(scattering: use_backMtl ? back_bsdf : front_bsdf), + volume: frontMtl.volume, + geometry: frontMtl.geometry + ); + +float emissive_multiplier() uniform +[[ + anno::description("unit conversion from pbrjson emission to mdl"), + anno::noinline() +]] +{ + return 2560.f; +} + +export material KooLightMtl( + color emission = color(1.f, 1.f, 1.f) [[ + anno::in_group("Parameters"), + anno::display_name("Emission") + ]], + uniform float emission_mult = 1.f [[ + anno::in_group("Parameters"), + anno::display_name("Mutliplier") + ]], + color opacity = color(1.f, 1.f, 1.f) [[ + anno::in_group("Parameters"), + anno::display_name("Opacity") + ]], + uniform bool emit_on_backside = false [[ + anno::in_group("Parameters"), + anno::display_name("Emit light on back side") + ]]) +[[ + anno::author("KooLab") +]] + = + let { + color emission_color = (emission*opacity)*emission_mult * emissive_multiplier(); + + bsdf surface_bsdf = + df::simple_glossy_bsdf + ( + mode: df::scatter_transmit, + tint: color(1.f) - opacity, + roughness_u: 0 + ); + + material_surface emit_surface = material_surface( + scattering: surface_bsdf, + emission: material_emission( + emission: df::diffuse_edf(), + intensity: emission_color) + ); + } in + material( + thin_walled: emit_on_backside, + ior: color(1.f), + surface: emit_surface, + backface: emit_on_backside ? emit_surface : material_surface() + ); + +export material KooMtl( + color diffuse = color(0.5f, 0.5f, 0.5f) [[ + anno::in_group("Diffuse Parameters"), + anno::display_name("diffuse") + ]], + color reflect = color(0.f, 0.f, 0.f) [[ + anno::in_group("Reflections"), + anno::display_name("reflect") + ]], + float reflect_glossiness = 1.f [[ + anno::in_group("Reflections"), + anno::display_name("Glossiness"), + anno::hard_range(0.f, 1.f) + ]], + uniform bool fresnel = true [[ + anno::in_group("Reflections"), + anno::display_name("Fresnel reflections") + ]], + float fresnel_ior = 1.6f [[ + anno::in_group("Reflections"), + anno::display_name("Fresnel IOR"), + anno::hard_range(0.2f, 5.f) + ]], + uniform bool fresnel_ior_lock = true [[ + anno::in_group("Reflections"), + anno::display_name("Lock IOR") + ]], + uniform bool invert_reflection_ior = false [[ + anno::in_group("Reflections"), + anno::hidden() + ]], + float reflection_metalness = 0.f [[ + anno::in_group("Reflections"), + anno::display_name("Metalness"), + anno::hard_range(0.f, 1.f) + ]], + uniform float refract_ior = 1.6f [[ + anno::in_group("Refractions"), + anno::display_name("IOR"), + anno::soft_range(0.2f, 5.f), + anno::hard_range(1.0e-06f, 100.f) + ]], + uniform bool invert_refraction_ior = false [[ + anno::in_group("Refractions"), + anno::hidden() + ]], + color self_illumination = color(0.f, 0.f, 0.f) [[ + anno::in_group("Self-Illumination"), + anno::display_name("Self-illumination") + ]], + uniform float self_illumination_multiplier = 1.f [[ + anno::in_group("Self-Illumination"), + anno::display_name("Self-Illumination Intensity") + ]], + float anisotropy = 0.f [[ + anno::in_group("BRDF"), + anno::display_name("Anisotropy"), + anno::hard_range(-1.f, 1.f), + anno::unused(), + anno::hidden() + ]], + float anisotropy_rotation = 0.f [[ + anno::in_group("BRDF"), + anno::display_name("Rotation"), + anno::hard_range(-10000.f, 10000.f), + anno::unused(), + anno::hidden() + ]], + float3 texmap_bump = state::normal() [[ + anno::in_group("Maps"), + anno::display_name("Bump Map") + ]], + float opacity = 1.f [[ + anno::in_group("Maps"), + anno::display_name("Opacity Map") + ]], + uniform bool thin_walled = false [[ + anno::in_group("Options"), + anno::hidden() + ]]) +[[ + anno::author("KooLab") +]] + = + let { + float reflection_roughness = math::pow((1.f - reflect_glossiness), 2.f); + + float refl_ior = invert_reflection_ior ? 1.f/(fresnel_ior + 0.01f) : fresnel_ior; + float refr_ior = invert_refraction_ior ? 1.f/(refract_ior + 0.01f) : refract_ior; + + float ior = fresnel_ior_lock ? refr_ior : refl_ior; + float R0 = math::pow((1.f - ior)/(1.f + ior), 2.f); + + bsdf diffuse_bsdf = + df::weighted_layer + ( + weight : 1.f, + layer : df::diffuse_reflection_bsdf + ( + tint : diffuse, + roughness : 0.0f + ), + normal : texmap_bump + ); + + bsdf glossy_reflection_bsdf = + df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: fresnel ? reflect : color(1.f), + roughness_u: reflection_roughness + ); + + bsdf diffuse_glossy_reflection_bsdf = + df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: diffuse, + roughness_u: reflection_roughness + ); + + bsdf surface_bsdf = + df::color_custom_curve_layer + ( + normal_reflectivity : fresnel ? color(R0) : reflect, + grazing_reflectivity: fresnel ? color(1.f) : reflect, + layer : glossy_reflection_bsdf, + base : + df::weighted_layer + ( + weight : reflection_metalness, + layer : diffuse_glossy_reflection_bsdf, + base : diffuse_bsdf, + normal : texmap_bump + ), + normal : texmap_bump + ); + } in + material + ( + ior : color(refr_ior), + thin_walled : thin_walled, + surface : material_surface + ( + scattering : surface_bsdf, + emission : material_emission + ( + emission : df::diffuse_edf(), + intensity : self_illumination*self_illumination_multiplier + ) + ), + geometry : material_geometry + ( + cutout_opacity: opacity + ) + ); + +export material KooTranslucentMtl( + color diffuse = color(0.5f, 0.5f, 0.5f) [[ + anno::in_group("Diffuse Parameters"), + anno::display_name("Diffuse") + ]], + color reflect = color(0.f, 0.f, 0.f) [[ + anno::in_group("Reflections"), + anno::display_name("Reflect") + ]], + float reflect_glossiness = 1.f [[ + anno::in_group("Reflections"), + anno::display_name("Glossiness"), + anno::hard_range(0.f, 1.f) + ]], + uniform bool fresnel = true [[ + anno::in_group("Reflections"), + anno::display_name("Fresnel reflections") + ]], + float fresnel_ior = 1.6f [[ + anno::in_group("Reflections"), + anno::display_name("Fresnel IOR"), + anno::soft_range(0.2, 5.f), + anno::hard_range(1.0e-06f, 100.f) + ]], + uniform bool fresnel_ior_lock = true [[ + anno::in_group("Reflections"), + anno::display_name("Lock IOR") + ]], + uniform bool invert_reflection_ior = false [[ + anno::in_group("Reflections"), + anno::hidden() + ]], + float reflection_metalness = 0.f [[ + anno::in_group("Reflections"), + anno::display_name("Metalness"), + anno::hard_range(0.f, 1.f) + ]], + color refract = color(0.f, 0.f, 0.f) [[ + anno::in_group("Refractions"), + anno::display_name("Refract") + ]], + float refract_glossiness = 1.f [[ + anno::in_group("Refractions"), + anno::display_name("Glossiness"), + anno::hard_range(0.f, 1.f) + ]], + uniform float refract_ior = 1.6f [[ + anno::in_group("Refractions"), + anno::display_name("IOR"), + anno::soft_range(0.2f, 5.f), + anno::hard_range(1.0e-06f, 100.f) + ]], + uniform bool invert_refraction_ior = false [[ + anno::in_group("Refractions"), + anno::hidden() + ]], + color self_illumination = color(0.f, 0.f, 0.f) [[ + anno::in_group("Self-Illumination"), + anno::display_name("Self-illumination") + ]], + uniform float self_illumination_multiplier = 1.f [[ + anno::in_group("Self-Illumination"), + anno::display_name("Multiplier") + ]], + float anisotropy = 0.f [[ + anno::in_group("BRDF"), + anno::display_name("Anisotropy"), + anno::hard_range(-1.f, 1.f), + anno::unused(), + anno::hidden() + ]], + float anisotropy_rotation = 0.f [[ + anno::in_group("BRDF"), + anno::display_name("Rotation"), + anno::hard_range(-10000.f, 10000.f), + anno::unused(), + anno::hidden() + ]], + float3 texmap_bump = state::normal() [[ + anno::in_group("Maps"), + anno::display_name("Bump Map") + ]], + float texmap_opacity = 1.f [[ + anno::in_group("Maps"), + anno::display_name("Opacity Map") + ]], + uniform bool thin_walled = false [[ + anno::in_group("Options"), + anno::hidden() + ]]) +[[ + anno::author("KooLab") +]] + = + let { + float reflection_roughness = math::pow((1.f - reflect_glossiness), 2.f); + + float refraction_roughness = math::pow((1.f - refract_glossiness), 2.f); + + float refl_ior = invert_reflection_ior ? 1.f/(fresnel_ior + 0.01f) : fresnel_ior; + float refr_ior = invert_refraction_ior ? 1.f/(refract_ior + 0.01f) : refract_ior; + + float ior = fresnel_ior_lock ? refr_ior : refl_ior; + float R0 = math::pow((1.f - ior)/(1.f + ior), 2.f); + + bsdf diffuse_bsdf = + df::weighted_layer + ( + weight : 1.f, + layer : df::diffuse_reflection_bsdf + ( + tint : diffuse, + roughness : 0.f + ), + normal : texmap_bump + ); + + bsdf glossy_transmission_bsdf = + df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: color(1.f), + roughness_u: refraction_roughness + ); + + bsdf glossy_reflection_bsdf = + df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: fresnel ? reflect : color(1.f), + roughness_u: reflection_roughness + ); + + bsdf diffuse_glossy_reflection_bsdf = + df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: diffuse, + roughness_u: reflection_roughness + ); + + bsdf surface_bsdf = + df::color_custom_curve_layer + ( + normal_reflectivity : fresnel ? color(R0) : reflect, + grazing_reflectivity: fresnel ? color(1.f) : reflect, + layer : glossy_reflection_bsdf, + base : + df::weighted_layer + ( + weight : reflection_metalness, + layer : diffuse_glossy_reflection_bsdf, + base : + df::color_weighted_layer + ( + weight : refract, + layer : glossy_transmission_bsdf, + base : diffuse_bsdf, + normal : texmap_bump + ), + normal : texmap_bump + ), + normal : texmap_bump + ); + } in + material( + thin_walled : thin_walled, + ior : color(refr_ior), + surface : material_surface + ( + scattering : surface_bsdf, + emission : material_emission + ( + emission : df::diffuse_edf(), + intensity : self_illumination*self_illumination_multiplier + ) + ), + geometry : material_geometry(cutout_opacity: texmap_opacity) + ); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031d02ca60000190393b.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031d02ca60000190393b.mdl new file mode 100644 index 0000000000000000000000000000000000000000..5b1272f6f52cc487ed01f96dc36ac5209e17346c --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031d02ca60000190393b.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_6528031d02ca60000190393b(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,28],\"version\":\"1.3.7\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.3490000069f, 0.3490000069f, 0.3490000069f), + reflect: color(0.3219999969f, 0.3219999969f, 0.3219999969f), + reflect_glossiness: 0.9300000072f, + fresnel: false, + fresnel_ior: 1.600000024f, + fresnel_ior_lock: true, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.600000024f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031d118f5e000180acd0.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031d118f5e000180acd0.mdl new file mode 100644 index 0000000000000000000000000000000000000000..171b8d150ae56d81d747dba81bef4a0d699c015d --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031d118f5e000180acd0.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_6528031d118f5e000180acd0(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,28],\"version\":\"1.3.7\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.02749999985f, 0.02749999985f, 0.02749999985f), + reflect: color(0.150000006f, 0.1599999964f, 0.1800000072f), + reflect_glossiness: 0.9499999881f, + fresnel: false, + fresnel_ior: 1.600000024f, + fresnel_ior_lock: true, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 0.200000003f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031d29931a0001ae069b.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031d29931a0001ae069b.mdl new file mode 100644 index 0000000000000000000000000000000000000000..d6e433a798b1d34437aefa26984779a8de5a6bc5 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031d29931a0001ae069b.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_6528031d29931a0001ae069b(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,28],\"version\":\"1.3.7\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.8823999763f, 0.8823999763f, 0.8823999763f), + reflect: color(0.8199999928f, 0.8199999928f, 0.8199999928f), + reflect_glossiness: 0.9499999881f, + fresnel: false, + fresnel_ior: 5.f, + fresnel_ior_lock: false, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.600000024f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031d69ad3400017d0004.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031d69ad3400017d0004.mdl new file mode 100644 index 0000000000000000000000000000000000000000..70923523d23139920503caeddb4cbdc0e0038b9a --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031d69ad3400017d0004.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_6528031d69ad3400017d0004(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,10],\"version\":\"1.3.7\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.2353000045f, 0.2353000045f, 0.2353000045f), + reflect: color(1.f, 1.f, 1.f), + reflect_glossiness: 0.6200000048f, + fresnel: true, + fresnel_ior: 1.600000024f, + fresnel_ior_lock: false, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.519999981f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031d7a627f0001f09e19.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031d7a627f0001f09e19.mdl new file mode 100644 index 0000000000000000000000000000000000000000..6a6717ac55aa2f7c7972691f7af2a84a95b1a672 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031d7a627f0001f09e19.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_6528031d7a627f0001f09e19(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,28],\"version\":\"1.3.7\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.02749999985f, 0.02749999985f, 0.02749999985f), + reflect: color(0.3179999888f, 0.3179999888f, 0.3179999888f), + reflect_glossiness: 0.9300000072f, + fresnel: false, + fresnel_ior: 1.600000024f, + fresnel_ior_lock: true, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.600000024f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031d80db5600018aa03f.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031d80db5600018aa03f.mdl new file mode 100644 index 0000000000000000000000000000000000000000..9106a5fc6216652703eda3a25c29eff1921db065 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031d80db5600018aa03f.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_6528031d80db5600018aa03f(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,10],\"version\":\"1.3.7\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.1550000012f, 0.1550000012f, 0.1550000012f), + reflect: color(0.7220000029f, 0.7220000029f, 0.7220000029f), + reflect_glossiness: 0.7599999905f, + fresnel: true, + fresnel_ior: 5.f, + fresnel_ior_lock: false, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.519999981f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031d8ffa490001fb1c45.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031d8ffa490001fb1c45.mdl new file mode 100644 index 0000000000000000000000000000000000000000..361ec3dbf656ef3e4b062ea49ec8a34e5064c95a --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031d8ffa490001fb1c45.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_6528031d8ffa490001fb1c45(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,28],\"version\":\"1.3.7\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.0353000015f, 0.03920000046f, 0.04710000008f), + reflect: color(0.6000000238f, 0.6000000238f, 0.6000000238f), + reflect_glossiness: 0.8999999762f, + fresnel: true, + fresnel_ior: 1.600000024f, + fresnel_ior_lock: true, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.600000024f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031d95a9ba0001834b35.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031d95a9ba0001834b35.mdl new file mode 100644 index 0000000000000000000000000000000000000000..dd6200c30a6f374352eee47ac95e8797544a96b2 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031d95a9ba0001834b35.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_6528031d95a9ba0001834b35(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,28],\"version\":\"1.3.7\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.8156999946f, 0.8156999946f, 0.8156999946f), + reflect: color(0.5059999824f, 0.5059999824f, 0.5059999824f), + reflect_glossiness: 0.9200000167f, + fresnel: false, + fresnel_ior: 1.600000024f, + fresnel_ior_lock: true, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.600000024f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031db017c50001de9de0.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031db017c50001de9de0.mdl new file mode 100644 index 0000000000000000000000000000000000000000..1aa8c95ad07e405ef4742895aa3152b53b8d48df --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031db017c50001de9de0.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_6528031db017c50001de9de0(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,28],\"version\":\"1.3.7\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.8156999946f, 0.8156999946f, 0.8156999946f), + reflect: color(0.5059999824f, 0.5059999824f, 0.5059999824f), + reflect_glossiness: 0.9200000167f, + fresnel: false, + fresnel_ior: 1.600000024f, + fresnel_ior_lock: true, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.600000024f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031db3b4180001ca0f21.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031db3b4180001ca0f21.mdl new file mode 100644 index 0000000000000000000000000000000000000000..03d103da1bde906fd122aa8f732f46ac32b8e646 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031db3b4180001ca0f21.mdl @@ -0,0 +1,36 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.7; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::KooPbr_maps::KooPbr_alpha_source; +import ::KooPbr_maps::KooPbr_bitmap; +import ::KooPbr_maps::KooPbr_mono_output; +import ::KooPbr_maps::KooPbr_rgb_output; +import ::anno::description; +import ::base::texture_return; +import ::tex::gamma_mode; + +export material MI_6528031db3b4180001ca0f21(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,29],\"version\":\"1.3.7\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.f, 0.f, 0.f), + reflect: color(0.f, 0.f, 0.f), + reflect_glossiness: 1.f, + fresnel: true, + fresnel_ior: 1.600000024f, + fresnel_ior_lock: true, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.600000024f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: KooPbr_maps::KooPbr_bitmap(1, 0.f, 0.f, 1.f, 1.f, true, false, true, false, 0.f, 0.f, 0.f, 0, texture_2d("../textures/d40ea506f692ed3638963180a815a5973d7896d.jpg", ::tex::gamma_srgb, ""), 0.f, 1.f, 0.f, 1.f, KooPbr_maps::mono_output_rgb_intensity, KooPbr_maps::rgb_output_rgb, KooPbr_maps::alpha_source_none, 1.f, false, false, false, 1.f, 1.f, 0.f).mono, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031db9b35600017e7180.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031db9b35600017e7180.mdl new file mode 100644 index 0000000000000000000000000000000000000000..b482652aa8087debf573680cf17dfcd4afef39bb --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031db9b35600017e7180.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_6528031db9b35600017e7180(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,28],\"version\":\"1.3.7\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.01960000023f, 0.01960000023f, 0.01960000023f), + reflect: color(0.3759999871f, 0.3759999871f, 0.3759999871f), + reflect_glossiness: 0.9200000167f, + fresnel: false, + fresnel_ior: 1.600000024f, + fresnel_ior_lock: true, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.600000024f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031db9b35600017e7181.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031db9b35600017e7181.mdl new file mode 100644 index 0000000000000000000000000000000000000000..dc55f11d52af97ea2da5f375e51955499af8421f --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031db9b35600017e7181.mdl @@ -0,0 +1,36 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.7; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::KooPbr_maps::KooPbr_alpha_source; +import ::KooPbr_maps::KooPbr_bitmap; +import ::KooPbr_maps::KooPbr_mono_output; +import ::KooPbr_maps::KooPbr_rgb_output; +import ::anno::description; +import ::base::texture_return; +import ::tex::gamma_mode; + +export material MI_6528031db9b35600017e7181(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,29],\"version\":\"1.3.7\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.f, 0.7293999791f, 1.f), + reflect: color(0.f, 0.f, 0.f), + reflect_glossiness: 1.f, + fresnel: true, + fresnel_ior: 1.600000024f, + fresnel_ior_lock: true, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.600000024f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: KooPbr_maps::KooPbr_bitmap(1, 0.f, 0.f, 1.f, 1.f, true, false, true, false, 0.f, 0.f, 0.f, 0, texture_2d("../textures/2ddfe9054da090f48d05f340bf5c2b60fc1350f.jpg", ::tex::gamma_srgb, ""), 0.f, 1.f, 0.f, 1.f, KooPbr_maps::mono_output_rgb_intensity, KooPbr_maps::rgb_output_rgb, KooPbr_maps::alpha_source_none, 1.f, false, false, false, 1.f, 1.f, 0.f).mono, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031dc405fd0001493fb3.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031dc405fd0001493fb3.mdl new file mode 100644 index 0000000000000000000000000000000000000000..084963177fa44133b320c737739216c7077fc72f --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031dc405fd0001493fb3.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_6528031dc405fd0001493fb3(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,10],\"version\":\"1.3.7\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.f, 0.f, 0.f), + reflect: color(0.4860000014f, 0.4860000014f, 0.4860000014f), + reflect_glossiness: 0.7599999905f, + fresnel: true, + fresnel_ior: 5.f, + fresnel_ior_lock: false, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.519999981f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031de2d2b80001b3929f.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031de2d2b80001b3929f.mdl new file mode 100644 index 0000000000000000000000000000000000000000..33f6e03e28e3afa0de4c6b2a720d0ff13c1ba13d --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6528031de2d2b80001b3929f.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_6528031de2d2b80001b3929f(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,28],\"version\":\"1.3.7\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.1294f, 0.1294f, 0.1294f), + reflect: color(0.4300000072f, 0.4399999976f, 0.4499999881f), + reflect_glossiness: 0.9499999881f, + fresnel: false, + fresnel_ior: 1.600000024f, + fresnel_ior_lock: true, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 0.200000003f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6576cd01a9943b0001ca97a2.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6576cd01a9943b0001ca97a2.mdl new file mode 100644 index 0000000000000000000000000000000000000000..e796ed714d71abb14bd053522a43b3c1b2e815a3 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6576cd01a9943b0001ca97a2.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_6576cd01a9943b0001ca97a2(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,28],\"version\":\"1.4.0\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.007799999788f, 0.007799999788f, 0.007799999788f), + reflect: color(0.3799999952f, 0.3799999952f, 0.3799999952f), + reflect_glossiness: 0.8999999762f, + fresnel: false, + fresnel_ior: 1.600000024f, + fresnel_ior_lock: true, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.600000024f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_657734770a5e870001ce5c35.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_657734770a5e870001ce5c35.mdl new file mode 100644 index 0000000000000000000000000000000000000000..9c893dccbed9bd236e33f07dd7e74d8d8ec7c262 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_657734770a5e870001ce5c35.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_657734770a5e870001ce5c35(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,8,35,15],\"version\":\"1.4.0\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.5f, 0.5f, 0.5f), + reflect: color(0.f, 0.f, 0.f), + reflect_glossiness: 1.f, + fresnel: false, + fresnel_ior: 1.600000024f, + fresnel_ior_lock: false, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.600000024f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6577347710a93f0001435102.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6577347710a93f0001435102.mdl new file mode 100644 index 0000000000000000000000000000000000000000..4530a3b609fb0490cb1a3407fad3c748ca3267d1 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6577347710a93f0001435102.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_6577347710a93f0001435102(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,8,35,15],\"version\":\"1.4.0\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.5f, 0.5f, 0.5f), + reflect: color(0.f, 0.f, 0.f), + reflect_glossiness: 1.f, + fresnel: false, + fresnel_ior: 1.600000024f, + fresnel_ior_lock: false, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.600000024f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6577347711bd150001eb1e4b.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6577347711bd150001eb1e4b.mdl new file mode 100644 index 0000000000000000000000000000000000000000..d01adf60796ce84d077b74ead57cb9137cf465d4 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6577347711bd150001eb1e4b.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_6577347711bd150001eb1e4b(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,28],\"version\":\"1.4.0\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.7646999955f, 0.7646999955f, 0.7646999955f), + reflect: color(0.8100000024f, 0.8100000024f, 0.8100000024f), + reflect_glossiness: 0.6999999881f, + fresnel: false, + fresnel_ior: 1.299999952f, + fresnel_ior_lock: false, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.600000024f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6577347740eb7c0001b6c67d.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6577347740eb7c0001b6c67d.mdl new file mode 100644 index 0000000000000000000000000000000000000000..8a848076d5a41048cb87f4798b9b69f295b4abd8 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6577347740eb7c0001b6c67d.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_6577347740eb7c0001b6c67d(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,28,7,15],\"version\":\"1.4.0\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.05099999905f, 0.05099999905f, 0.05099999905f), + reflect: color(0.1700000018f, 0.1700000018f, 0.1700000018f), + reflect_glossiness: 0.8999999762f, + fresnel: false, + fresnel_ior: 1.600000024f, + fresnel_ior_lock: true, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.600000024f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_657734774a62b000011d0b75.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_657734774a62b000011d0b75.mdl new file mode 100644 index 0000000000000000000000000000000000000000..9262ec18145dff52b42f036a99fa0b55f2232318 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_657734774a62b000011d0b75.mdl @@ -0,0 +1,34 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.7; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::KooPbr_maps::KooPbr_bitmap_bump; +import ::KooPbr_maps::KooPbr_falloff; +import ::anno::description; +import ::base::texture_return; +import ::tex::gamma_mode; + +export material MI_657734774a62b000011d0b75(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,28,26,12],\"version\":\"1.4.0\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.02309999987f, 0.02309999987f, 0.02309999987f), + reflect: KooPbr_maps::KooPbr_falloff(base::texture_return(tint: color(0.f, 0.f, 0.f), mono: 1.f), base::texture_return(tint: color(0.4699999988f, 0.4699999988f, 0.4699999988f), mono: 1.f)).tint, + reflect_glossiness: 0.8000000119f, + fresnel: false, + fresnel_ior: 1.600000024f, + fresnel_ior_lock: true, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.600000024f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: KooPbr_maps::KooPbr_bitmap_bump(1, true, false, true, false, 0.f, 0.f, 0.f, 0.f, 0.f, 1.f, 1.f, 0, texture_2d("../textures/5511ecb7aea339f87f214b974dd7f8590b25381b.jpg", ::tex::gamma_srgb, ""), 0.f, 1.f, 0.f, 1.f, 0.3000000119f, 1.f, false, false, false, 1.f, 1.f, 0.f), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_657734774c99360001dbd019.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_657734774c99360001dbd019.mdl new file mode 100644 index 0000000000000000000000000000000000000000..0659fea30cc5b945dcd6d763be4d314b4c59e3ea --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_657734774c99360001dbd019.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_657734774c99360001dbd019(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,28],\"version\":\"1.4.0\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.5f, 0.5f, 0.5f), + reflect: color(1.f, 1.f, 1.f), + reflect_glossiness: 0.8000000119f, + fresnel: false, + fresnel_ior: 1.600000024f, + fresnel_ior_lock: true, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.600000024f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6577347790c49f0001be15bc.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6577347790c49f0001be15bc.mdl new file mode 100644 index 0000000000000000000000000000000000000000..8f5aad1dd0d20c152f3aa4adcd8214992f27e7ff --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6577347790c49f0001be15bc.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_6577347790c49f0001be15bc(*) +[[ + anno::description("{\"status\":0,\"tag\":[0],\"version\":\"1.4.0\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.5881999731f, 0.5881999731f, 0.5881999731f), + reflect: color(0.f, 0.f, 0.f), + reflect_glossiness: 1.f, + fresnel: false, + fresnel_ior: 1.600000024f, + fresnel_ior_lock: true, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.600000024f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_657734779a6c3200011b2e89.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_657734779a6c3200011b2e89.mdl new file mode 100644 index 0000000000000000000000000000000000000000..1ddf99bccadfdab8f3732618615d7394d30b9f41 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_657734779a6c3200011b2e89.mdl @@ -0,0 +1,36 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.7; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::KooPbr_maps::KooPbr_alpha_source; +import ::KooPbr_maps::KooPbr_bitmap; +import ::KooPbr_maps::KooPbr_mono_output; +import ::KooPbr_maps::KooPbr_rgb_output; +import ::anno::description; +import ::base::texture_return; +import ::tex::gamma_mode; + +export material MI_657734779a6c3200011b2e89(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,28,32],\"version\":\"1.4.0\"}") +]] + = KooPbr::KooMtl( + diffuse: KooPbr_maps::KooPbr_bitmap(1, 0.f, 0.f, 1.f, 1.f, true, false, true, false, 0.f, 0.f, 0.f, 0, texture_2d("../textures/1b5c0f4bc2366012722a3aa64bb539e37522cb1.jpg", ::tex::gamma_srgb, ""), 0.f, 1.f, 0.f, 1.f, KooPbr_maps::mono_output_rgb_intensity, KooPbr_maps::rgb_output_rgb, KooPbr_maps::alpha_source_none, 1.f, false, false, false, 1.f, 1.f, 0.f).tint, + reflect: KooPbr_maps::KooPbr_bitmap(1, 0.f, 0.f, 1.f, 1.f, true, false, true, false, 0.f, 0.f, 0.f, 0, texture_2d("../textures/000a4e7245bdbe9f302e0f8a4fe938995520427.jpg", ::tex::gamma_srgb, ""), 0.f, 1.f, 0.f, 1.f, KooPbr_maps::mono_output_rgb_intensity, KooPbr_maps::rgb_output_rgb, KooPbr_maps::alpha_source_none, 1.f, false, false, false, 1.f, 1.f, 0.f).tint, + reflect_glossiness: KooPbr_maps::KooPbr_bitmap(1, 0.f, 0.f, 1.f, 1.f, true, false, true, false, 0.f, 0.f, 0.f, 0, texture_2d("../textures/f1bf8093d95e86cd5eef491db19f8c417a13064.jpg", ::tex::gamma_srgb, ""), 0.f, 1.f, 0.f, 1.f, KooPbr_maps::mono_output_rgb_intensity, KooPbr_maps::rgb_output_rgb, KooPbr_maps::alpha_source_none, 1.f, false, false, false, 1.f, 1.f, 0.f).mono, + fresnel: false, + fresnel_ior: 1.649999976f, + fresnel_ior_lock: false, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.600000024f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: KooPbr_maps::KooPbr_bitmap(1, 0.f, 0.f, 1.f, 1.f, true, false, true, false, 0.f, 0.f, 0.f, 0, texture_2d("../textures/0efcd9319607eda99c03ee47ce5b13f843a204.jpg", ::tex::gamma_srgb, ""), 0.f, 1.f, 0.f, 1.f, KooPbr_maps::mono_output_rgb_intensity, KooPbr_maps::rgb_output_rgb, KooPbr_maps::alpha_source_none, 1.f, false, false, false, 1.f, 1.f, 0.f).mono, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_65773477a3887500015430d7.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_65773477a3887500015430d7.mdl new file mode 100644 index 0000000000000000000000000000000000000000..93ecd2ee511429a484c41fea716f8dd2448e008f --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_65773477a3887500015430d7.mdl @@ -0,0 +1,38 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.7; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::KooPbr_maps::KooPbr_alpha_source; +import ::KooPbr_maps::KooPbr_bitmap; +import ::KooPbr_maps::KooPbr_bitmap_bump; +import ::KooPbr_maps::KooPbr_falloff; +import ::KooPbr_maps::KooPbr_mono_output; +import ::KooPbr_maps::KooPbr_rgb_output; +import ::anno::description; +import ::base::texture_return; +import ::tex::gamma_mode; + +export material MI_65773477a3887500015430d7(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,28,34,26,12],\"version\":\"1.4.0\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.02309999987f, 0.02309999987f, 0.02309999987f), + reflect: KooPbr_maps::KooPbr_falloff(base::texture_return(tint: color(0.f, 0.f, 0.f), mono: 1.f), base::texture_return(tint: color(0.4699999988f, 0.4699999988f, 0.4699999988f), mono: 1.f)).tint, + reflect_glossiness: 0.8000000119f, + fresnel: false, + fresnel_ior: 1.600000024f, + fresnel_ior_lock: true, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.600000024f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: KooPbr_maps::KooPbr_bitmap_bump(1, true, false, true, false, 0.f, 0.f, 0.f, 0.f, 0.f, 1.f, 1.f, 0, texture_2d("../textures/5511ecb7aea339f87f214b974dd7f8590b25381b.jpg", ::tex::gamma_srgb, ""), 0.f, 1.f, 0.f, 1.f, 0.3000000119f, 1.f, false, false, false, 1.f, 1.f, 0.f), + opacity: KooPbr_maps::KooPbr_bitmap(1, 0.f, 0.f, 1.f, 1.f, true, false, true, false, 0.f, 0.f, 0.f, 0, texture_2d("../textures/e64e5ef78c32d0cf98c0f5e49feba417fb4432.jpg", ::tex::gamma_srgb, ""), 0.f, 1.f, 0.f, 1.f, KooPbr_maps::mono_output_rgb_intensity, KooPbr_maps::rgb_output_rgb, KooPbr_maps::alpha_source_none, 1.f, false, false, false, 1.f, 1.f, 0.f).mono, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_65773477a9943b0001caa738.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_65773477a9943b0001caa738.mdl new file mode 100644 index 0000000000000000000000000000000000000000..5143566693c44095c745e07c02cb2ffd5d458103 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_65773477a9943b0001caa738.mdl @@ -0,0 +1,36 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.7; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::KooPbr_maps::KooPbr_alpha_source; +import ::KooPbr_maps::KooPbr_bitmap; +import ::KooPbr_maps::KooPbr_mono_output; +import ::KooPbr_maps::KooPbr_rgb_output; +import ::anno::description; +import ::base::texture_return; +import ::tex::gamma_mode; + +export material MI_65773477a9943b0001caa738(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,28,29],\"version\":\"1.4.0\"}") +]] + = KooPbr::KooMtl( + diffuse: KooPbr_maps::KooPbr_bitmap(1, 0.f, 0.f, 1.f, 1.f, true, false, true, false, 0.f, 0.f, 0.f, 0, texture_2d("../textures/d9b9a9ccd383a220344b78270e2f29f8a64414d.jpg", ::tex::gamma_srgb, ""), 0.f, 1.f, 0.f, 1.f, KooPbr_maps::mono_output_rgb_intensity, KooPbr_maps::rgb_output_rgb, KooPbr_maps::alpha_source_none, 1.f, false, false, false, 1.f, 1.f, 0.f).tint, + reflect: KooPbr_maps::KooPbr_bitmap(1, 0.f, 0.f, 1.f, 1.f, true, false, true, false, 0.f, 0.f, 0.f, 0, texture_2d("../textures/17419b01a9dae1d81c1fd013225832b23257e43.jpg", ::tex::gamma_srgb, ""), 0.f, 1.f, 0.f, 1.f, KooPbr_maps::mono_output_rgb_intensity, KooPbr_maps::rgb_output_rgb, KooPbr_maps::alpha_source_none, 1.f, false, false, false, 1.f, 1.f, 0.f).tint, + reflect_glossiness: 0.8000000119f, + fresnel: false, + fresnel_ior: 1.600000024f, + fresnel_ior_lock: true, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.600000024f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.75f, + anisotropy_rotation: 0.25f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_65773477d6f2be0001bb40d1.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_65773477d6f2be0001bb40d1.mdl new file mode 100644 index 0000000000000000000000000000000000000000..40a375d7ed06c5cd33762cc9a83927d580cec41d --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_65773477d6f2be0001bb40d1.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_65773477d6f2be0001bb40d1(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,28],\"version\":\"1.4.0\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.f, 0.f, 0.f), + reflect: color(0.0700000003f, 0.0700000003f, 0.0700000003f), + reflect_glossiness: 0.8000000119f, + fresnel: false, + fresnel_ior: 1.600000024f, + fresnel_ior_lock: true, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.600000024f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_65773477de958f0001608bde.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_65773477de958f0001608bde.mdl new file mode 100644 index 0000000000000000000000000000000000000000..9eb44ccab35058b32a19a483302252b2e0e82339 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_65773477de958f0001608bde.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_65773477de958f0001608bde(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,28],\"version\":\"1.4.0\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.f, 0.f, 0.f), + reflect: color(1.f, 1.f, 1.f), + reflect_glossiness: 0.8999999762f, + fresnel: false, + fresnel_ior: 1.600000024f, + fresnel_ior_lock: true, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.600000024f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6577571e11bd150001eb1f9e.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6577571e11bd150001eb1f9e.mdl new file mode 100644 index 0000000000000000000000000000000000000000..37a62629031612453b91327835e5305da94f90a4 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6577571e11bd150001eb1f9e.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_6577571e11bd150001eb1f9e(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,28],\"version\":\"1.4.0\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.f, 0.f, 0.f), + reflect: color(0.1920000017f, 0.1920000017f, 0.1920000017f), + reflect_glossiness: 0.8999999762f, + fresnel: false, + fresnel_ior: 1.600000024f, + fresnel_ior_lock: true, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.600000024f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6577571e9a6c3200011b2fe5.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6577571e9a6c3200011b2fe5.mdl new file mode 100644 index 0000000000000000000000000000000000000000..542c52bf219b3f58015880c972b6f92a9d5a456a --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6577571e9a6c3200011b2fe5.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_6577571e9a6c3200011b2fe5(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,28],\"version\":\"1.4.0\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.003899999894f, 0.003899999894f, 0.003899999894f), + reflect: color(0.07999999821f, 0.07999999821f, 0.07999999821f), + reflect_glossiness: 0.8000000119f, + fresnel: false, + fresnel_ior: 1.600000024f, + fresnel_ior_lock: true, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.600000024f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6577571ea388750001543226.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6577571ea388750001543226.mdl new file mode 100644 index 0000000000000000000000000000000000000000..2a48a5f52feaffb5748e800f3752edce7abdee00 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6577571ea388750001543226.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_6577571ea388750001543226(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,28],\"version\":\"1.4.0\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.003899999894f, 0.003899999894f, 0.003899999894f), + reflect: color(1.f, 1.f, 1.f), + reflect_glossiness: 0.8999999762f, + fresnel: true, + fresnel_ior: 1.600000024f, + fresnel_ior_lock: true, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.600000024f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6577571ee876a400018c9b82.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6577571ee876a400018c9b82.mdl new file mode 100644 index 0000000000000000000000000000000000000000..6d331f22327ec98dddb7ea15d96f0a222316cf63 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6577571ee876a400018c9b82.mdl @@ -0,0 +1,32 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooTranslucentMtl; +import ::anno::description; + +export material MI_6577571ee876a400018c9b82(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,28],\"version\":\"1.4.0\"}") +]] + = KooPbr::KooTranslucentMtl( + diffuse: color(1.f, 1.f, 1.f), + reflect: color(0.09000000358f, 0.09000000358f, 0.09000000358f), + reflect_glossiness: 1.f, + fresnel: false, + fresnel_ior: 1.600000024f, + fresnel_ior_lock: true, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract: color(1.f, 1.f, 1.f), + refract_glossiness: 1.f, + refract_ior: 1.600000024f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + texmap_opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6578265211bd150001eb41e2.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6578265211bd150001eb41e2.mdl new file mode 100644 index 0000000000000000000000000000000000000000..ad2d67d8a98c3d20722e582942ce1add24526a2a --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6578265211bd150001eb41e2.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_6578265211bd150001eb41e2(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,10,28],\"version\":\"1.4.0\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.03920000046f, 0.03920000046f, 0.03920000046f), + reflect: color(0.f, 0.f, 0.f), + reflect_glossiness: 1.f, + fresnel: true, + fresnel_ior: 1.519999981f, + fresnel_ior_lock: true, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.519999981f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6578265240eb7c0001b6e9a7.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6578265240eb7c0001b6e9a7.mdl new file mode 100644 index 0000000000000000000000000000000000000000..869911bfff2c8574ca093fd1a02243ecaf83a7da --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6578265240eb7c0001b6e9a7.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_6578265240eb7c0001b6e9a7(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,10,28],\"version\":\"1.4.0\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.070600003f, 0.070600003f, 0.070600003f), + reflect: color(0.8999999762f, 0.8999999762f, 0.8999999762f), + reflect_glossiness: 0.75f, + fresnel: true, + fresnel_ior: 1.5f, + fresnel_ior_lock: true, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.5f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_657826524a62b000011d2f13.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_657826524a62b000011d2f13.mdl new file mode 100644 index 0000000000000000000000000000000000000000..022977e2ca7fe21e47a26e427cefe08888a57b87 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_657826524a62b000011d2f13.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_657826524a62b000011d2f13(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,10,28],\"version\":\"1.4.0\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.01180000044f, 0.01180000044f, 0.01180000044f), + reflect: color(0.8999999762f, 0.8999999762f, 0.8999999762f), + reflect_glossiness: 1.f, + fresnel: true, + fresnel_ior: 1.519999981f, + fresnel_ior_lock: false, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.5f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_657826524c99360001dbf405.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_657826524c99360001dbf405.mdl new file mode 100644 index 0000000000000000000000000000000000000000..fcbea8d023363c978f747537cab85bba1e78fe66 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_657826524c99360001dbf405.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_657826524c99360001dbf405(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,10,28],\"version\":\"1.4.0\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.f, 0.f, 0.f), + reflect: color(0.8999999762f, 0.8999999762f, 0.8999999762f), + reflect_glossiness: 0.9399999976f, + fresnel: true, + fresnel_ior: 5.f, + fresnel_ior_lock: false, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.5f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_657826529b93930001104ed9.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_657826529b93930001104ed9.mdl new file mode 100644 index 0000000000000000000000000000000000000000..2a44af9106318f052f71c064c1e9fa65f6f4d826 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_657826529b93930001104ed9.mdl @@ -0,0 +1,32 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooTranslucentMtl; +import ::anno::description; + +export material MI_657826529b93930001104ed9(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,10,28],\"version\":\"1.4.0\"}") +]] + = KooPbr::KooTranslucentMtl( + diffuse: color(0.2705999911f, 0.2705999911f, 0.2705999911f), + reflect: color(0.8080000281f, 0.8080000281f, 0.8080000281f), + reflect_glossiness: 1.f, + fresnel: true, + fresnel_ior: 1.519999981f, + fresnel_ior_lock: false, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract: color(1.f, 1.f, 1.f), + refract_glossiness: 1.f, + refract_ior: 1.5f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + texmap_opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_65782652a3887500015454bf.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_65782652a3887500015454bf.mdl new file mode 100644 index 0000000000000000000000000000000000000000..8e2caa8757cd78d5983cfb01b19e3f0e9b16d990 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_65782652a3887500015454bf.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_65782652a3887500015454bf(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,10,28],\"version\":\"1.4.0\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.02749999985f, 0.02749999985f, 0.02749999985f), + reflect: color(0.474999994f, 0.474999994f, 0.474999994f), + reflect_glossiness: 1.f, + fresnel: true, + fresnel_ior: 1.519999981f, + fresnel_ior_lock: true, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.519999981f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_65782652ade22a0001b5a6fa.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_65782652ade22a0001b5a6fa.mdl new file mode 100644 index 0000000000000000000000000000000000000000..e870a5403bafab4711b1064df5f95ba81bba939b --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_65782652ade22a0001b5a6fa.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_65782652ade22a0001b5a6fa(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,10,28],\"version\":\"1.4.0\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.003899999894f, 0.003899999894f, 0.003899999894f), + reflect: color(0.324000001f, 0.324000001f, 0.324000001f), + reflect_glossiness: 0.3160000145f, + fresnel: true, + fresnel_ior: 1.519999981f, + fresnel_ior_lock: false, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.5f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_65782652d6f2be0001bb646a.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_65782652d6f2be0001bb646a.mdl new file mode 100644 index 0000000000000000000000000000000000000000..d735e4418ca20c312424b37a09013608d359bf48 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_65782652d6f2be0001bb646a.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_65782652d6f2be0001bb646a(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,10,28],\"version\":\"1.4.0\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.f, 0.f, 0.f), + reflect: color(0.349999994f, 0.349999994f, 0.349999994f), + reflect_glossiness: 0.9300000072f, + fresnel: true, + fresnel_ior: 1.519999981f, + fresnel_ior_lock: true, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.519999981f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_65782652fa411a000185230c.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_65782652fa411a000185230c.mdl new file mode 100644 index 0000000000000000000000000000000000000000..dcbfd49530b9138cbe86887ac45d63db093f930f --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_65782652fa411a000185230c.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_65782652fa411a000185230c(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,10,28],\"version\":\"1.4.0\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.01180000044f, 0.01180000044f, 0.01569999941f), + reflect: color(0.8999999762f, 0.8999999762f, 0.8999999762f), + reflect_glossiness: 0.8399999738f, + fresnel: true, + fresnel_ior: 1.519999981f, + fresnel_ior_lock: false, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.5f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6578265310a93f0001437458.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6578265310a93f0001437458.mdl new file mode 100644 index 0000000000000000000000000000000000000000..4921370f341aa1ad4feca6f610612d8390f647ad --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6578265310a93f0001437458.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_6578265310a93f0001437458(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,28],\"version\":\"1.4.0\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.2234999985f, 0.2313999981f, 0.2431000024f), + reflect: color(0.5600000024f, 0.5600000024f, 0.5600000024f), + reflect_glossiness: 0.9900000095f, + fresnel: false, + fresnel_ior: 5.f, + fresnel_ior_lock: false, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.600000024f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.400000006f, + anisotropy_rotation: 0.25f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6578265317d81a00010c29f8.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6578265317d81a00010c29f8.mdl new file mode 100644 index 0000000000000000000000000000000000000000..63b1031b29f07a2f92cf53d35ac84b0449624336 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6578265317d81a00010c29f8.mdl @@ -0,0 +1,32 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooTranslucentMtl; +import ::anno::description; + +export material MI_6578265317d81a00010c29f8(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,28],\"version\":\"1.4.0\"}") +]] + = KooPbr::KooTranslucentMtl( + diffuse: color(0.f, 0.f, 0.f), + reflect: color(0.451000005f, 0.451000005f, 0.451000005f), + reflect_glossiness: 0.8000000119f, + fresnel: true, + fresnel_ior: 1.600000024f, + fresnel_ior_lock: true, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract: color(0.9959999919f, 0.9959999919f, 0.9959999919f), + refract_glossiness: 1.f, + refract_ior: 1.600000024f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + texmap_opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6578265333071a0001d15cfb.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6578265333071a0001d15cfb.mdl new file mode 100644 index 0000000000000000000000000000000000000000..386da461525e16e60c27686c0656549913323925 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6578265333071a0001d15cfb.mdl @@ -0,0 +1,39 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.7; + +import ::state::normal; +import ::KooPbr::KooTranslucentMtl; +import ::KooPbr_maps::KooPbr_alpha_source; +import ::KooPbr_maps::KooPbr_bitmap; +import ::KooPbr_maps::KooPbr_falloff; +import ::KooPbr_maps::KooPbr_mono_output; +import ::KooPbr_maps::KooPbr_rgb_output; +import ::anno::description; +import ::base::texture_return; +import ::tex::gamma_mode; + +export material MI_6578265333071a0001d15cfb(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,10,28],\"version\":\"1.4.0\"}") +]] + = KooPbr::KooTranslucentMtl( + diffuse: KooPbr_maps::KooPbr_bitmap(1, 0.f, 0.f, 1.f, 1.f, true, false, true, false, 0.f, 0.f, 0.f, 0, texture_2d("../textures/f61ff1b8e11e4bdb2d9074acd1f85d1d472af0f.jpg", ::tex::gamma_srgb, ""), 0.f, 1.f, 0.f, 1.f, KooPbr_maps::mono_output_rgb_intensity, KooPbr_maps::rgb_output_rgb, KooPbr_maps::alpha_source_none, 1.f, false, false, false, 1.f, 1.f, 0.f).tint, + reflect: KooPbr_maps::KooPbr_falloff(base::texture_return(tint: color(0.1199999973f, 0.1199999973f, 0.1199999973f), mono: 1.f), base::texture_return(tint: color(0.f, 0.f, 0.f), mono: 1.f)).tint, + reflect_glossiness: 1.f, + fresnel: false, + fresnel_ior: 1.600000024f, + fresnel_ior_lock: true, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract: color(0.9700000286f, 0.9700000286f, 0.9700000286f), + refract_glossiness: 1.f, + refract_ior: 1.559999943f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + texmap_opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_657826534c99360001dbf407.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_657826534c99360001dbf407.mdl new file mode 100644 index 0000000000000000000000000000000000000000..9ec8501c184a8a4adca71f89ef166feec1170c59 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_657826534c99360001dbf407.mdl @@ -0,0 +1,36 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.7; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::KooPbr_maps::KooPbr_alpha_source; +import ::KooPbr_maps::KooPbr_bitmap; +import ::KooPbr_maps::KooPbr_mono_output; +import ::KooPbr_maps::KooPbr_rgb_output; +import ::anno::description; +import ::base::texture_return; +import ::tex::gamma_mode; + +export material MI_657826534c99360001dbf407(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,28,30,34],\"version\":\"1.4.0\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.2234999985f, 0.2234999985f, 0.2234999985f), + reflect: KooPbr_maps::KooPbr_bitmap(1, -0.5f, -1.f, 2.f, 3.f, true, false, true, false, 0.f, 0.f, 0.f, 0, texture_2d("../textures/0e00a10efba06542fb7cd162afff0e33bb6f7eb.jpg", ::tex::gamma_srgb, ""), 0.f, 1.f, 0.f, 1.f, KooPbr_maps::mono_output_rgb_intensity, KooPbr_maps::rgb_output_rgb, KooPbr_maps::alpha_source_none, 1.f, false, false, false, 1.f, 1.f, 0.f).tint, + reflect_glossiness: KooPbr_maps::KooPbr_bitmap(1, -0.5f, -1.f, 2.f, 3.f, true, false, true, false, 0.f, 0.f, 0.f, 0, texture_2d("../textures/0524e2897ca8ce49e48b8749bb1d27c2f55fe64.jpg", ::tex::gamma_srgb, ""), 0.f, 1.f, 0.f, 1.f, KooPbr_maps::mono_output_rgb_intensity, KooPbr_maps::rgb_output_rgb, KooPbr_maps::alpha_source_none, 1.f, false, false, false, 1.f, 1.f, 0.f).mono, + fresnel: false, + fresnel_ior: 1.600000024f, + fresnel_ior_lock: true, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.600000024f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.8000000119f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6578265390c49f0001be3990.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6578265390c49f0001be3990.mdl new file mode 100644 index 0000000000000000000000000000000000000000..d7e804cb03681ec543080117b06beac89ba79ec1 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_6578265390c49f0001be3990.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_6578265390c49f0001be3990(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,28],\"version\":\"1.4.0\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.007799999788f, 0.007799999788f, 0.007799999788f), + reflect: color(0.451000005f, 0.451000005f, 0.451000005f), + reflect_glossiness: 0.8000000119f, + fresnel: true, + fresnel_ior: 1.600000024f, + fresnel_ior_lock: true, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.600000024f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_65782653a9943b0001cacb8e.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_65782653a9943b0001cacb8e.mdl new file mode 100644 index 0000000000000000000000000000000000000000..eda3183b5ae04d3c2d58db6ab17ba5eb904a2a49 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_65782653a9943b0001cacb8e.mdl @@ -0,0 +1,36 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.7; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::KooPbr_maps::KooPbr_alpha_source; +import ::KooPbr_maps::KooPbr_bitmap; +import ::KooPbr_maps::KooPbr_mono_output; +import ::KooPbr_maps::KooPbr_rgb_output; +import ::anno::description; +import ::base::texture_return; +import ::tex::gamma_mode; + +export material MI_65782653a9943b0001cacb8e(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,28],\"version\":\"1.4.0\"}") +]] + = KooPbr::KooMtl( + diffuse: KooPbr_maps::KooPbr_bitmap(1, 0.f, 0.f, 1.f, 1.f, true, false, true, false, 0.f, 0.f, 0.f, 0, texture_2d("../textures/f61ff1b8e11e4bdb2d9074acd1f85d1d472af0f.jpg", ::tex::gamma_srgb, ""), 0.f, 1.f, 0.f, 1.f, KooPbr_maps::mono_output_rgb_intensity, KooPbr_maps::rgb_output_rgb, KooPbr_maps::alpha_source_none, 1.f, false, false, false, 1.f, 1.f, 0.f).tint, + reflect: color(0.451000005f, 0.451000005f, 0.451000005f), + reflect_glossiness: 0.8000000119f, + fresnel: true, + fresnel_ior: 1.600000024f, + fresnel_ior_lock: true, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.600000024f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_65782653d6f2be0001bb646b.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_65782653d6f2be0001bb646b.mdl new file mode 100644 index 0000000000000000000000000000000000000000..07f6aeaaa0da39d11e6a20e080634d937be3c3c5 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_65782653d6f2be0001bb646b.mdl @@ -0,0 +1,30 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.6; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::anno::description; + +export material MI_65782653d6f2be0001bb646b(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,28],\"version\":\"1.4.0\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.04710000008f, 0.04710000008f, 0.04710000008f), + reflect: color(0.8899999857f, 0.8899999857f, 0.8899999857f), + reflect_glossiness: 0.8500000238f, + fresnel: false, + fresnel_ior: 1.600000024f, + fresnel_ior_lock: true, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.600000024f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_65782653fa411a000185230d.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_65782653fa411a000185230d.mdl new file mode 100644 index 0000000000000000000000000000000000000000..609d074e8c401c168eda20e8a99dc8e23d177947 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/MI_65782653fa411a000185230d.mdl @@ -0,0 +1,32 @@ +// auto generated by pbrjson2mdl +// version = cc4b850 +mdl 1.7; + +import ::state::normal; +import ::KooPbr::KooMtl; +import ::KooPbr_maps::KooPbr_falloff; +import ::anno::description; +import ::base::texture_return; + +export material MI_65782653fa411a000185230d(*) +[[ + anno::description("{\"status\":0,\"tag\":[0,28,26],\"version\":\"1.4.0\"}") +]] + = KooPbr::KooMtl( + diffuse: color(0.f, 0.f, 0.f), + reflect: KooPbr_maps::KooPbr_falloff(base::texture_return(tint: color(1.f, 1.f, 1.f), mono: 1.f), base::texture_return(tint: color(0.f, 0.f, 0.f), mono: 1.f)).tint, + reflect_glossiness: 0.8000000119f, + fresnel: true, + fresnel_ior: 2.599999905f, + fresnel_ior_lock: false, + invert_reflection_ior: false, + reflection_metalness: 0.f, + refract_ior: 1.600000024f, + invert_refraction_ior: false, + self_illumination: color(0.f, 0.f, 0.f), + self_illumination_multiplier: 1.f, + anisotropy: 0.f, + anisotropy_rotation: 0.f, + texmap_bump: state::normal(), + opacity: 1.f, + thin_walled: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/Num65210c45b9b35600017d6023.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/Num65210c45b9b35600017d6023.mdl new file mode 100644 index 0000000000000000000000000000000000000000..1dcfdc2adb8a8d35acfe7efdc22d33ebbdfa4454 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/Num65210c45b9b35600017d6023.mdl @@ -0,0 +1,307 @@ +mdl 1.6; + +import ::math::*; +import ::state::*; +import ::tex::*; +import ::anno::*; +using OmniUe4Function import *; +using OmniUe4Translucent import *; + +export annotation sampler_color(); +export annotation sampler_normal(); +export annotation sampler_grayscale(); +export annotation sampler_alpha(); +export annotation sampler_masks(); +export annotation sampler_distancefield(); +export annotation dither_masked_off(); +export annotation world_space_normal(); + +export material Num65210c45b9b35600017d6023( + uniform texture_2d Normal_Tex = texture_2d("../textures/MV7J6NIKTKJZ2AABAAAAADI8_usd_kitchen_0/normal.png",::tex::gamma_linear) + [[ + anno::display_name("Normal_Tex"), + anno::ui_order(32), + anno::in_group("Normal"), + sampler_normal() + ]], + float4 Normal_UVA = float4(1.0,1.0,0.0,0.0) + [[ + anno::display_name("Normal_UVA"), + anno::ui_order(32), + anno::in_group("Normal") + ]], + float EmissiveIntensity = 0.0 + [[ + anno::display_name("EmissiveIntensity"), + anno::ui_order(32), + anno::in_group("EmissiveColor") + ]], + float IsEmissiveTex = 0.0 + [[ + anno::display_name("IsEmissiveTex"), + anno::in_group("EmissiveColor") + ]], + float4 Emissive_Color = float4(1.0,1.0,1.0,1.0) + [[ + anno::display_name("Emissive_Color"), + anno::ui_order(32), + anno::in_group("EmissiveColor") + ]], + uniform texture_2d Emissive_Tex = texture_2d("../textures/MV7J6NIKTKJZ2AABAAAAADI8_usd_kitchen_0/white.png",::tex::gamma_srgb) + [[ + anno::display_name("Emissive_Tex"), + anno::ui_order(32), + anno::in_group("EmissiveColor"), + sampler_color() + ]], + float4 Emissive_UVA = float4(1.0,1.0,0.0,0.0) + [[ + anno::display_name("Emissive_UVA"), + anno::ui_order(32), + anno::in_group("EmissiveColor") + ]], + float IsBaseColorTex = 0.0 + [[ + anno::display_name("IsBaseColorTex"), + anno::in_group("BaseColor") + ]], + float4 BaseColor_Color = float4(1.0,1.0,1.0,1.0) + [[ + anno::display_name("BaseColor_Color"), + anno::ui_order(32), + anno::in_group("BaseColor") + ]], + uniform texture_2d BaseColor_Tex = texture_2d("../textures/MV7J6NIKTKJZ2AABAAAAADI8_usd_kitchen_0/white.png",::tex::gamma_srgb) + [[ + anno::display_name("BaseColor_Tex"), + anno::ui_order(32), + anno::in_group("BaseColor"), + sampler_color() + ]], + float4 BaseColor_UVA = float4(1.0,1.0,0.0,0.0) + [[ + anno::display_name("BaseColor_UVA"), + anno::ui_order(32), + anno::in_group("BaseColor") + ]], + float IsMetallicTex = 0.0 + [[ + anno::display_name("IsMetallicTex"), + anno::in_group("Metallic") + ]], + float4 Metallic_Color = float4(0.0,0.0,0.0,1.0) + [[ + anno::display_name("Metallic_Color"), + anno::ui_order(32), + anno::in_group("Metallic") + ]], + uniform texture_2d Metallic_Tex = texture_2d("../textures/MV7J6NIKTKJZ2AABAAAAADI8_usd_kitchen_0/black.png",::tex::gamma_srgb) + [[ + anno::display_name("Metallic_Tex"), + anno::ui_order(32), + anno::in_group("Metallic"), + sampler_color() + ]], + float4 Metallic_UVA = float4(1.0,1.0,0.0,0.0) + [[ + anno::display_name("Metallic_UVA"), + anno::ui_order(32), + anno::in_group("Metallic") + ]], + float IsSpecularTex = 0.0 + [[ + anno::display_name("IsSpecularTex"), + anno::in_group("Specular") + ]], + float4 Specular_Color = float4(1.0,1.0,1.0,1.0) + [[ + anno::display_name("Specular_Color"), + anno::ui_order(32), + anno::in_group("Specular") + ]], + uniform texture_2d Specular_Tex = texture_2d("../textures/MV7J6NIKTKJZ2AABAAAAADI8_usd_kitchen_0/white.png",::tex::gamma_srgb) + [[ + anno::display_name("Specular_Tex"), + anno::ui_order(32), + anno::in_group("Specular"), + sampler_color() + ]], + float4 Specular_UVA = float4(1.0,1.0,0.0,0.0) + [[ + anno::display_name("Specular_UVA"), + anno::ui_order(32), + anno::in_group("Specular") + ]], + float IsGlossTex = 0.0 + [[ + anno::display_name("IsGlossTex"), + anno::in_group("Roughness") + ]], + float4 Gloss_Color = float4(0.1,0.1,0.1,1.0) + [[ + anno::display_name("Gloss_Color"), + anno::ui_order(32), + anno::in_group("Roughness") + ]], + uniform texture_2d Gloss_Tex = texture_2d("../textures/MV7J6NIKTKJZ2AABAAAAADI8_usd_kitchen_0/white.png",::tex::gamma_srgb) + [[ + anno::display_name("Gloss_Tex"), + anno::ui_order(32), + anno::in_group("Roughness"), + sampler_color() + ]], + float4 Gloss_UVA = float4(1.0,1.0,0.0,0.0) + [[ + anno::display_name("Gloss_UVA"), + anno::ui_order(32), + anno::in_group("Roughness") + ]], + float Opacity = 0.5 + [[ + anno::display_name("Opacity"), + anno::ui_order(32), + anno::in_group("Translucent") + ]], + float PolygonOffset = 0.0 + [[ + anno::display_name("PolygonOffset"), + anno::ui_order(32), + anno::in_group("WorldPosition") + ]], + uniform float SwitchRefraction = 0.0 + [[ + anno::display_name("SwitchRefraction"), + anno::ui_order(32), + anno::in_group("Refraction") + ]], + uniform float FresnelB = 1.517 + [[ + anno::display_name("FresnelB"), + anno::ui_order(32), + anno::in_group("Refraction") + ]], + int MaxTexCoordIndex = 3 + [[ + anno::hidden() + ]]) + = + let { + float3 Local82 = ::camera_position(); + float3 Local83 = (Local82 - (::convert_to_left_hand(state::transform_point(state::coordinate_internal,state::coordinate_world,state::position()), true)*state::meters_per_scene_unit()*100.0)); + float Local84 = math::dot(Local83, Local83); + float Local85 = math::sqrt(Local84); + float3 Local86 = (Local83 / Local85); + float3 Local87 = (Local86 * PolygonOffset); + + float3 WorldPositionOffset_mdl = Local87; + float2 CustomizedUV0_mdl = float2(state::texture_coordinate(math::min(0,MaxTexCoordIndex)).x,1.0-state::texture_coordinate(math::min(0,MaxTexCoordIndex)).y); + + float2 Local0 = (float2(0.5,0.5) * -1.0); + float Local1 = (CustomizedUV0_mdl.x * float3(Normal_UVA.x,Normal_UVA.y,Normal_UVA.z).x); + float Local2 = (CustomizedUV0_mdl.y * float3(Normal_UVA.x,Normal_UVA.y,Normal_UVA.z).y); + float2 Local3 = (Local0 + float2(Local1,Local2)); + float Local4 = (3.141592 * -2.0); + float Local5 = (float3(Normal_UVA.x,Normal_UVA.y,Normal_UVA.z).z / Local4); + float Local6 = (Local5 * 6.283185); + float Local7 = math::cos(Local6); + float Local8 = math::sin(Local6); + float Local9 = (Local8 * -1.0); + float Local10 = math::dot(Local3, float2(Local7,Local9)); + float Local11 = math::dot(Local3, float2(Local8,Local7)); + float2 Local12 = (float2(0.5,0.5) + float2(Local10,Local11)); + float4 Local13 = ::unpack_normal_map(tex::lookup_float4(Normal_Tex,float2(Local12.x,1.0-Local12.y),tex::wrap_repeat,tex::wrap_repeat)); + float3 Local14 = ((math::abs(1.0 - 1.0) > 0.00001) ? (float3(0.0,0.0,0.0)) : float3(Local13.x,Local13.y,Local13.z)); + + float3 Normal_mdl = Local14; + + float Local15 = (CustomizedUV0_mdl.x * float3(Emissive_UVA.x,Emissive_UVA.y,Emissive_UVA.z).x); + float Local16 = (CustomizedUV0_mdl.y * float3(Emissive_UVA.x,Emissive_UVA.y,Emissive_UVA.z).y); + float2 Local17 = (Local0 + float2(Local15,Local16)); + float Local18 = (float3(Emissive_UVA.x,Emissive_UVA.y,Emissive_UVA.z).z / Local4); + float Local19 = (Local18 * 6.283185); + float Local20 = math::cos(Local19); + float Local21 = math::sin(Local19); + float Local22 = (Local21 * -1.0); + float Local23 = math::dot(Local17, float2(Local20,Local22)); + float Local24 = math::dot(Local17, float2(Local21,Local20)); + float2 Local25 = (float2(0.5,0.5) + float2(Local23,Local24)); + float4 Local26 = tex::lookup_float4(Emissive_Tex,float2(Local25.x,1.0-Local25.y),tex::wrap_repeat,tex::wrap_repeat); + float3 Local27 = ((math::abs(IsEmissiveTex - 1.0) > 0.00001) ? (float3(Emissive_Color.x,Emissive_Color.y,Emissive_Color.z)) : float3(Local26.x,Local26.y,Local26.z)); + float3 Local28 = (EmissiveIntensity * Local27); + float Local29 = (CustomizedUV0_mdl.x * float3(BaseColor_UVA.x,BaseColor_UVA.y,BaseColor_UVA.z).x); + float Local30 = (CustomizedUV0_mdl.y * float3(BaseColor_UVA.x,BaseColor_UVA.y,BaseColor_UVA.z).y); + float2 Local31 = (Local0 + float2(Local29,Local30)); + float Local32 = (float3(BaseColor_UVA.x,BaseColor_UVA.y,BaseColor_UVA.z).z / Local4); + float Local33 = (Local32 * 6.283185); + float Local34 = math::cos(Local33); + float Local35 = math::sin(Local33); + float Local36 = (Local35 * -1.0); + float Local37 = math::dot(Local31, float2(Local34,Local36)); + float Local38 = math::dot(Local31, float2(Local35,Local34)); + float2 Local39 = (float2(0.5,0.5) + float2(Local37,Local38)); + float4 Local40 = tex::lookup_float4(BaseColor_Tex,float2(Local39.x,1.0-Local39.y),tex::wrap_repeat,tex::wrap_repeat); + float3 Local41 = ((math::abs(IsBaseColorTex - 1.0) > 0.00001) ? (float3(BaseColor_Color.x,BaseColor_Color.y,BaseColor_Color.z)) : float3(Local40.x,Local40.y,Local40.z)); + float Local42 = (CustomizedUV0_mdl.x * float3(Metallic_UVA.x,Metallic_UVA.y,Metallic_UVA.z).x); + float Local43 = (CustomizedUV0_mdl.y * float3(Metallic_UVA.x,Metallic_UVA.y,Metallic_UVA.z).y); + float2 Local44 = (Local0 + float2(Local42,Local43)); + float Local45 = (float3(Metallic_UVA.x,Metallic_UVA.y,Metallic_UVA.z).z / Local4); + float Local46 = (Local45 * 6.283185); + float Local47 = math::cos(Local46); + float Local48 = math::sin(Local46); + float Local49 = (Local48 * -1.0); + float Local50 = math::dot(Local44, float2(Local47,Local49)); + float Local51 = math::dot(Local44, float2(Local48,Local47)); + float2 Local52 = (float2(0.5,0.5) + float2(Local50,Local51)); + float4 Local53 = tex::lookup_float4(Metallic_Tex,float2(Local52.x,1.0-Local52.y),tex::wrap_repeat,tex::wrap_repeat); + float3 Local54 = ((math::abs(IsMetallicTex - 1.0) > 0.00001) ? (float3(Metallic_Color.x,Metallic_Color.y,Metallic_Color.z)) : float3(Local53.x,Local53.y,Local53.z)); + float Local55 = (CustomizedUV0_mdl.x * float3(Specular_UVA.x,Specular_UVA.y,Specular_UVA.z).x); + float Local56 = (CustomizedUV0_mdl.y * float3(Specular_UVA.x,Specular_UVA.y,Specular_UVA.z).y); + float2 Local57 = (Local0 + float2(Local55,Local56)); + float Local58 = (float3(Specular_UVA.x,Specular_UVA.y,Specular_UVA.z).z / Local4); + float Local59 = (Local58 * 6.283185); + float Local60 = math::cos(Local59); + float Local61 = math::sin(Local59); + float Local62 = (Local61 * -1.0); + float Local63 = math::dot(Local57, float2(Local60,Local62)); + float Local64 = math::dot(Local57, float2(Local61,Local60)); + float2 Local65 = (float2(0.5,0.5) + float2(Local63,Local64)); + float4 Local66 = tex::lookup_float4(Specular_Tex,float2(Local65.x,1.0-Local65.y),tex::wrap_repeat,tex::wrap_repeat); + float3 Local67 = ((math::abs(IsSpecularTex - 1.0) > 0.00001) ? (float3(Specular_Color.x,Specular_Color.y,Specular_Color.z)) : float3(Local66.x,Local66.y,Local66.z)); + float Local68 = (CustomizedUV0_mdl.x * float3(Gloss_UVA.x,Gloss_UVA.y,Gloss_UVA.z).x); + float Local69 = (CustomizedUV0_mdl.y * float3(Gloss_UVA.x,Gloss_UVA.y,Gloss_UVA.z).y); + float2 Local70 = (Local0 + float2(Local68,Local69)); + float Local71 = (float3(Gloss_UVA.x,Gloss_UVA.y,Gloss_UVA.z).z / Local4); + float Local72 = (Local71 * 6.283185); + float Local73 = math::cos(Local72); + float Local74 = math::sin(Local72); + float Local75 = (Local74 * -1.0); + float Local76 = math::dot(Local70, float2(Local73,Local75)); + float Local77 = math::dot(Local70, float2(Local74,Local73)); + float2 Local78 = (float2(0.5,0.5) + float2(Local76,Local77)); + float4 Local79 = tex::lookup_float4(Gloss_Tex,float2(Local78.x,1.0-Local78.y),tex::wrap_repeat,tex::wrap_repeat); + float3 Local80 = ((math::abs(IsGlossTex - 1.0) > 0.00001) ? (float3(Gloss_Color.x,Gloss_Color.y,Gloss_Color.z)) : float3(Local79.x,Local79.y,Local79.z)); + float3 Local81 = (1.0 - Local80); + float Local89 = ((math::abs(SwitchRefraction - 1.0) > 0.01) ? (1.0) : FresnelB); + + float3 EmissiveColor_mdl = Local28; + float Opacity_mdl = Opacity; + float OpacityMask_mdl = (math::saturate(Opacity) - 1.0f / 255.0f) < 0.0f ? 0.0f : 1.0f; + float3 BaseColor_mdl = Local41; + float Metallic_mdl = Local54.x; + float Specular_mdl = Local67.x; + float Roughness_mdl = Local81.x; + float2 Refraction_mdl = float2(Local89,Local89); + + } in + ::OmniUe4Translucent( + base_color: BaseColor_mdl, + metallic: Metallic_mdl, + roughness: Roughness_mdl, + specular: Specular_mdl, + normal: Normal_mdl, + opacity: Opacity_mdl, + opacity_mask: OpacityMask_mdl, + emissive_color: EmissiveColor_mdl, + displacement: WorldPositionOffset_mdl, + refraction: Refraction_mdl.x, + two_sided: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/OmniUe4Base.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/OmniUe4Base.mdl new file mode 100644 index 0000000000000000000000000000000000000000..a441fbaf28040302c7aaabfbcf14b24a85bdf643 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/OmniUe4Base.mdl @@ -0,0 +1,224 @@ +/*************************************************************************************************** + * Copyright 2020 NVIDIA Corporation. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + **************************************************************************************************/ + +//* 1.0.0 - first version +//* 1.0.1 - merge unlit template +//* 1.0.2 - Fix EDF in the back side: the EDF contained in surface is only used for the front side and not for the back side +//* 1.0.3 - UE4 normal mapping: Geometry normal shouldn't be changed +//* 1.0.4 - using absolute import paths when importing standard modules + +mdl 1.3; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::tex::*; +import ::anno::*; + +float emissive_multiplier() +[[ + anno::description("the multiplier to convert UE4 emissive to raw data"), + anno::noinline() +]] +{ + return 20.0f * 128.0f; +} + +float3 tangent_space_normal( + float3 normal = float3(0.0,0.0,1.0), + float3 tangent_u = state::texture_tangent_u(0), + float3 tangent_v = state::texture_tangent_v(0) +) +[[ + anno::description("Interprets the vector in tangent space"), + anno::noinline() +]] +{ + return math::normalize( + tangent_u * normal.x - /* flip_tangent_v */ + tangent_v * normal.y + + state::normal() * (normal.z)); +} + +float3 world_space_normal( + float3 normal = float3(0.0,0.0,1.0), + float3 tangent_u = state::texture_tangent_u(0), + float3 tangent_v = state::texture_tangent_v(0) +) +[[ + anno::description("Interprets the vector in world space"), + anno::noinline() +]] +{ + return tangent_space_normal( + math::normalize( + normal.x * float3(tangent_u.x, tangent_v.x, state::normal().x) - + normal.y * float3(tangent_u.y, tangent_v.y, state::normal().y) + + normal.z * float3(tangent_u.z, tangent_v.z, state::normal().z)), + tangent_u, + tangent_v + ); +} + +export material OmniUe4Base( + float3 base_color = float3(0.0, 0.0, 0.0), + float metallic = 0.0, + float roughness = 0.5, + float specular = 0.5, + float3 normal = float3(0.0,0.0,1.0), + float clearcoat_weight = 0.0, + float clearcoat_roughness = 0.0, + float3 clearcoat_normal = float3(0.0,0.0,1.0), + uniform bool enable_opacity = true, + float opacity = 1.0, + float3 emissive_color = float3(0.0, 0.0, 0.0), + float3 displacement = float3(0.0), + uniform bool is_tangent_space_normal = true, + uniform bool two_sided = false, + uniform bool is_unlit = false +) +[[ + anno::display_name("Omni UE4 Base"), + anno::description("Omni UE4 Base, supports UE4 default lit and clearcoat shading model"), + anno::version( 1, 0, 0), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "UE4", "omniverse", "lit", "clearcoat", "generic")) +]] + = let { + color final_base_color = math::saturate(base_color); + float final_metallic = math::saturate(metallic); + float final_roughness = math::saturate(roughness); + float final_specular = math::saturate(specular); + color final_emissive_color = math::max(emissive_color, 0.0f) * emissive_multiplier(); /*factor for converting ue4 emissive to raw value*/ + float final_clearcoat_weight = math::saturate(clearcoat_weight); + float final_clearcoat_roughness = math::saturate(clearcoat_roughness); + float3 final_normal = math::normalize(normal); + float3 final_clearcoat_normal = math::normalize(clearcoat_normal); + + // - compute final roughness by squaring the "roughness" parameter + float alpha = final_roughness * final_roughness; + // reduce the reflectivity at grazing angles to avoid "dark edges" for high roughness due to the layering + float grazing_refl = math::max((1.0 - final_roughness), 0.0); + + float3 the_normal = is_unlit ? state::normal() : + (is_tangent_space_normal ? + tangent_space_normal( + normal: final_normal, + tangent_u: state::texture_tangent_u(0), + tangent_v: state::texture_tangent_v(0) + ) : world_space_normal( + normal: final_normal, + tangent_u: state::texture_tangent_u(0), + tangent_v: state::texture_tangent_v(0) + )); + + // for the dielectric component we layer the glossy component on top of the diffuse one, + // the glossy layer has no color tint + + bsdf dielectric_component = df::custom_curve_layer( + weight: final_specular, + normal_reflectivity: 0.08, + grazing_reflectivity: grazing_refl, + layer: df::microfacet_ggx_smith_bsdf(roughness_u: alpha), + base: df::diffuse_reflection_bsdf(tint: final_base_color), + normal: the_normal); + + // the metallic component doesn't have a diffuse component, it's only glossy + // base_color is applied to tint it + bsdf metallic_component = df::microfacet_ggx_smith_bsdf(tint: final_base_color, roughness_u: alpha); + + // final BSDF is a linear blend between dielectric and metallic component + bsdf dielectric_metal_mix = + df::normalized_mix( + components: + df::bsdf_component[]( + df::bsdf_component( + component: metallic_component, + weight: final_metallic), + df::bsdf_component( + component: dielectric_component, + weight: 1.0-final_metallic) + ) + ); + + // clearcoat layer + float clearcoat_grazing_refl = math::max((1.0 - final_clearcoat_roughness), 0.0); + float clearcoat_alpha = final_clearcoat_roughness * final_clearcoat_roughness; + + float3 the_clearcoat_normal = is_tangent_space_normal ? tangent_space_normal( + normal: final_clearcoat_normal, + tangent_u: state::texture_tangent_u(0), + tangent_v: state::texture_tangent_v(0) + ) : world_space_normal( + normal: final_clearcoat_normal, + tangent_u: state::texture_tangent_u(0), + tangent_v: state::texture_tangent_v(0) + ); + + + bsdf clearcoat = + df::custom_curve_layer( + base: df::weighted_layer( + layer: dielectric_metal_mix, + weight: 1.0, + normal: final_clearcoat_weight == 0.0 ? state::normal() : the_normal + ), + layer: df::microfacet_ggx_smith_bsdf( + roughness_u: clearcoat_alpha, + tint: color(1.0) + ), + normal_reflectivity: 0.04, + grazing_reflectivity: clearcoat_grazing_refl, + normal: the_clearcoat_normal, + weight: final_clearcoat_weight + ); + bsdf surface = is_unlit ? bsdf() : clearcoat; +} +in material( + thin_walled: two_sided, // Graphene? + surface: material_surface( + scattering: surface, + emission: + material_emission ( + emission: df::diffuse_edf (), + intensity: final_emissive_color + ) + ), + backface: material_surface( + emission: + material_emission ( + emission: df::diffuse_edf (), + intensity: final_emissive_color + ) + ), + geometry: material_geometry( + displacement: displacement, + normal: final_clearcoat_weight == 0.0 ? the_normal : state::normal(), + cutout_opacity: enable_opacity ? opacity : 1.0 + ) +); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/OmniUe4Base_1.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/OmniUe4Base_1.mdl new file mode 100644 index 0000000000000000000000000000000000000000..a441fbaf28040302c7aaabfbcf14b24a85bdf643 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/OmniUe4Base_1.mdl @@ -0,0 +1,224 @@ +/*************************************************************************************************** + * Copyright 2020 NVIDIA Corporation. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + **************************************************************************************************/ + +//* 1.0.0 - first version +//* 1.0.1 - merge unlit template +//* 1.0.2 - Fix EDF in the back side: the EDF contained in surface is only used for the front side and not for the back side +//* 1.0.3 - UE4 normal mapping: Geometry normal shouldn't be changed +//* 1.0.4 - using absolute import paths when importing standard modules + +mdl 1.3; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::tex::*; +import ::anno::*; + +float emissive_multiplier() +[[ + anno::description("the multiplier to convert UE4 emissive to raw data"), + anno::noinline() +]] +{ + return 20.0f * 128.0f; +} + +float3 tangent_space_normal( + float3 normal = float3(0.0,0.0,1.0), + float3 tangent_u = state::texture_tangent_u(0), + float3 tangent_v = state::texture_tangent_v(0) +) +[[ + anno::description("Interprets the vector in tangent space"), + anno::noinline() +]] +{ + return math::normalize( + tangent_u * normal.x - /* flip_tangent_v */ + tangent_v * normal.y + + state::normal() * (normal.z)); +} + +float3 world_space_normal( + float3 normal = float3(0.0,0.0,1.0), + float3 tangent_u = state::texture_tangent_u(0), + float3 tangent_v = state::texture_tangent_v(0) +) +[[ + anno::description("Interprets the vector in world space"), + anno::noinline() +]] +{ + return tangent_space_normal( + math::normalize( + normal.x * float3(tangent_u.x, tangent_v.x, state::normal().x) - + normal.y * float3(tangent_u.y, tangent_v.y, state::normal().y) + + normal.z * float3(tangent_u.z, tangent_v.z, state::normal().z)), + tangent_u, + tangent_v + ); +} + +export material OmniUe4Base( + float3 base_color = float3(0.0, 0.0, 0.0), + float metallic = 0.0, + float roughness = 0.5, + float specular = 0.5, + float3 normal = float3(0.0,0.0,1.0), + float clearcoat_weight = 0.0, + float clearcoat_roughness = 0.0, + float3 clearcoat_normal = float3(0.0,0.0,1.0), + uniform bool enable_opacity = true, + float opacity = 1.0, + float3 emissive_color = float3(0.0, 0.0, 0.0), + float3 displacement = float3(0.0), + uniform bool is_tangent_space_normal = true, + uniform bool two_sided = false, + uniform bool is_unlit = false +) +[[ + anno::display_name("Omni UE4 Base"), + anno::description("Omni UE4 Base, supports UE4 default lit and clearcoat shading model"), + anno::version( 1, 0, 0), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "UE4", "omniverse", "lit", "clearcoat", "generic")) +]] + = let { + color final_base_color = math::saturate(base_color); + float final_metallic = math::saturate(metallic); + float final_roughness = math::saturate(roughness); + float final_specular = math::saturate(specular); + color final_emissive_color = math::max(emissive_color, 0.0f) * emissive_multiplier(); /*factor for converting ue4 emissive to raw value*/ + float final_clearcoat_weight = math::saturate(clearcoat_weight); + float final_clearcoat_roughness = math::saturate(clearcoat_roughness); + float3 final_normal = math::normalize(normal); + float3 final_clearcoat_normal = math::normalize(clearcoat_normal); + + // - compute final roughness by squaring the "roughness" parameter + float alpha = final_roughness * final_roughness; + // reduce the reflectivity at grazing angles to avoid "dark edges" for high roughness due to the layering + float grazing_refl = math::max((1.0 - final_roughness), 0.0); + + float3 the_normal = is_unlit ? state::normal() : + (is_tangent_space_normal ? + tangent_space_normal( + normal: final_normal, + tangent_u: state::texture_tangent_u(0), + tangent_v: state::texture_tangent_v(0) + ) : world_space_normal( + normal: final_normal, + tangent_u: state::texture_tangent_u(0), + tangent_v: state::texture_tangent_v(0) + )); + + // for the dielectric component we layer the glossy component on top of the diffuse one, + // the glossy layer has no color tint + + bsdf dielectric_component = df::custom_curve_layer( + weight: final_specular, + normal_reflectivity: 0.08, + grazing_reflectivity: grazing_refl, + layer: df::microfacet_ggx_smith_bsdf(roughness_u: alpha), + base: df::diffuse_reflection_bsdf(tint: final_base_color), + normal: the_normal); + + // the metallic component doesn't have a diffuse component, it's only glossy + // base_color is applied to tint it + bsdf metallic_component = df::microfacet_ggx_smith_bsdf(tint: final_base_color, roughness_u: alpha); + + // final BSDF is a linear blend between dielectric and metallic component + bsdf dielectric_metal_mix = + df::normalized_mix( + components: + df::bsdf_component[]( + df::bsdf_component( + component: metallic_component, + weight: final_metallic), + df::bsdf_component( + component: dielectric_component, + weight: 1.0-final_metallic) + ) + ); + + // clearcoat layer + float clearcoat_grazing_refl = math::max((1.0 - final_clearcoat_roughness), 0.0); + float clearcoat_alpha = final_clearcoat_roughness * final_clearcoat_roughness; + + float3 the_clearcoat_normal = is_tangent_space_normal ? tangent_space_normal( + normal: final_clearcoat_normal, + tangent_u: state::texture_tangent_u(0), + tangent_v: state::texture_tangent_v(0) + ) : world_space_normal( + normal: final_clearcoat_normal, + tangent_u: state::texture_tangent_u(0), + tangent_v: state::texture_tangent_v(0) + ); + + + bsdf clearcoat = + df::custom_curve_layer( + base: df::weighted_layer( + layer: dielectric_metal_mix, + weight: 1.0, + normal: final_clearcoat_weight == 0.0 ? state::normal() : the_normal + ), + layer: df::microfacet_ggx_smith_bsdf( + roughness_u: clearcoat_alpha, + tint: color(1.0) + ), + normal_reflectivity: 0.04, + grazing_reflectivity: clearcoat_grazing_refl, + normal: the_clearcoat_normal, + weight: final_clearcoat_weight + ); + bsdf surface = is_unlit ? bsdf() : clearcoat; +} +in material( + thin_walled: two_sided, // Graphene? + surface: material_surface( + scattering: surface, + emission: + material_emission ( + emission: df::diffuse_edf (), + intensity: final_emissive_color + ) + ), + backface: material_surface( + emission: + material_emission ( + emission: df::diffuse_edf (), + intensity: final_emissive_color + ) + ), + geometry: material_geometry( + displacement: displacement, + normal: final_clearcoat_weight == 0.0 ? the_normal : state::normal(), + cutout_opacity: enable_opacity ? opacity : 1.0 + ) +); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/OmniUe4Function.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/OmniUe4Function.mdl new file mode 100644 index 0000000000000000000000000000000000000000..f0801afff6f0870ea2574c9e9b6e2043e79e9a79 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/OmniUe4Function.mdl @@ -0,0 +1,1413 @@ +/*************************************************************************************************** + * Copyright 2020 NVIDIA Corporation. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + **************************************************************************************************/ + +//* 1.0.1 - using absolute import paths when importing standard modules + +mdl 1.6; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::tex::*; +import ::anno::*; + + +export float3 convert_to_left_hand(float3 vec3, uniform bool up_z = true, uniform bool is_position = true) +[[ + anno::description("convert from RH to LH"), + anno::noinline() +]] +{ + float4x4 ZupConversion = float4x4( + 1.0f, 0.0f, 0.0f, 0.0f, + 0.0f, -1.0f, 0.0f, 0.0f, + 0.0f, 0.0f, 1.0f, 0.0f, + 0.0f, 0.0f, 0.0f, 1.0f + ); + + float4x4 YupConversion = float4x4( + 1.0f, 0.0f, 0.0f, 0.0f, + 0.0f, 0.0f, 1.0f, 0.0f, + 0.0f, 1.0f, 0.0f, 0.0f, + 0.0f, 0.0f, 0.0f, 1.0f + ); + + float4 vec4 = float4(vec3.x, vec3.y, vec3.z, is_position ? 1.0f : 0.0f); + + vec4 = vec4 * (up_z ? ZupConversion : YupConversion); + + return float3(vec4.x, vec4.y, vec4.z); +} + +export float3 transform_vector_from_tangent_to_world(float3 vector, + uniform bool up_z = true, + float3 tangent_u = state::texture_tangent_u(0), + float3 tangent_v = state::texture_tangent_v(0)) +[[ + anno::description("Transform vector from tangent space to world space"), + anno::noinline() +]] +{ + /* flip_tangent_v */ + return convert_to_left_hand( + tangent_u * vector.x - tangent_v * vector.y + state::normal() * vector.z, + up_z, false); +} + +export float3 transform_vector_from_world_to_tangent(float3 vector, + uniform bool up_z = true, + float3 tangent_u = state::texture_tangent_u(0), + float3 tangent_v = state::texture_tangent_v(0)) +[[ + anno::description("Transform vector from world space to tangent space"), + anno::noinline() +]] +{ + float3 vecRH = convert_to_left_hand(vector, up_z, false); + /* flip_tangent_v */ + return vecRH.x * float3(tangent_u.x, -tangent_v.x, state::normal().x) + + vecRH.y * float3(tangent_u.y, -tangent_v.y, state::normal().y) + + vecRH.z * float3(tangent_u.z, -tangent_v.z, state::normal().z); +} + +export float4 unpack_normal_map( + float4 texture_sample = float4(0.0, 0.0, 1.0, 1.0) + ) +[[ + anno::description("Unpack a normal stored in a normal map"), + anno::noinline() +]] +{ + float2 normal_xy = float2(texture_sample.x, texture_sample.y); + + normal_xy = normal_xy * float2(2.0,2.0) - float2(1.0,1.0); + float normal_z = math::sqrt( math::saturate( 1.0 - math::dot( normal_xy, normal_xy ) ) ); + return float4( normal_xy.x, normal_xy.y, normal_z, 1.0 ); +} + +// for get color value from normal. +export float4 pack_normal_map( + float4 texture_sample = float4(0.0, 0.0, 1.0, 1.0) + ) +[[ + anno::description("Pack to color from a normal") +]] +{ + float2 return_xy = float2(texture_sample.x, texture_sample.y); + + return_xy = (return_xy + float2(1.0,1.0)) / float2(2.0,2.0); + + return float4( return_xy.x, return_xy.y, 0.0, 1.0 ); +} + +export float4 greyscale_texture_lookup( + float4 texture_sample = float4(0.0, 0.0, 0.0, 1.0) + ) +[[ + anno::description("Sampling a greyscale texture"), + anno::noinline() +]] +{ + return float4(texture_sample.x, texture_sample.x, texture_sample.x, texture_sample.x); +} + +export float3 pixel_normal_world_space(uniform bool up_z = true) +[[ + anno::description("Pixel normal in world space"), + anno::noinline() +]] +{ + return convert_to_left_hand(state::transform_normal(state::coordinate_internal,state::coordinate_world,state::normal()), up_z, false); +} + +export float3 vertex_normal_world_space(uniform bool up_z = true) +[[ + anno::description("Vertex normal in world space"), + anno::noinline() +]] +{ + return convert_to_left_hand(state::transform_normal(state::coordinate_internal,state::coordinate_world,state::normal()), up_z, false); +} + +export float3 landscape_normal_world_space(uniform bool up_z = true) +[[ + anno::description("Landscape normal in world space") +]] +{ + float3 normalFromNormalmap = math::floor((::vertex_normal_world_space(up_z) * 0.5 + 0.5) * 255.0) / 255.0 * 2.0 - 1.0; + + float2 normalXY = float2(normalFromNormalmap.x, normalFromNormalmap.y); + return float3(normalXY.x, normalXY.y, math::sqrt(math::saturate(1.0 - math::dot(normalXY, normalXY)))); +} + +// Different implementation specific between mdl and hlsl for smoothstep +export float smoothstep(float a, float b, float l) +{ + if (a < b) + { + return math::smoothstep(a, b, l); + } + else if (a > b) + { + return 1.0 - math::smoothstep(b, a, l); + } + else + { + return l <= a ? 0.0 : 1.0; + } +} + +export float2 smoothstep(float2 a, float2 b, float2 l) +{ + return float2(smoothstep(a.x, b.x, l.x), smoothstep(a.y, b.y, l.y)); +} + +export float3 smoothstep(float3 a, float3 b, float3 l) +{ + return float3(smoothstep(a.x, b.x, l.x), smoothstep(a.y, b.y, l.y), smoothstep(a.z, b.z, l.z)); +} + +export float4 smoothstep(float4 a, float4 b, float4 l) +{ + return float4(smoothstep(a.x, b.x, l.x), smoothstep(a.y, b.y, l.y), smoothstep(a.z, b.z, l.z), smoothstep(a.w, b.w, l.w)); +} + +export float2 smoothstep(float2 a, float2 b, float l) +{ + return float2(smoothstep(a.x, b.x, l), smoothstep(a.y, b.y, l)); +} + +export float3 smoothstep(float3 a, float3 b, float l) +{ + return float3(smoothstep(a.x, b.x, l), smoothstep(a.y, b.y, l), smoothstep(a.z, b.z, l)); +} + +export float4 smoothstep(float4 a, float4 b, float l) +{ + return float4(smoothstep(a.x, b.x, l), smoothstep(a.y, b.y, l), smoothstep(a.z, b.z, l), smoothstep(a.w, b.w, l)); +} + +export float2 smoothstep(float a, float b, float2 l) +{ + return float2(smoothstep(a, b, l.x), smoothstep(a, b, l.y)); +} + +export float3 smoothstep(float a, float b, float3 l) +{ + return float3(smoothstep(a, b, l.x), smoothstep(a, b, l.y), smoothstep(a, b, l.z)); +} + +export float4 smoothstep(float a, float b, float4 l) +{ + return float4(smoothstep(a, b, l.x), smoothstep(a, b, l.y), smoothstep(a, b, l.z), smoothstep(a, b, l.w)); +} + +//------------------ Random from UE4 ----------------------- +float length2(float3 v) +{ + return math::dot(v, v); +} + +float3 GetPerlinNoiseGradientTextureAt(uniform texture_2d PerlinNoiseGradientTexture, float3 v) +{ + const float2 ZShear = float2(17.0f, 89.0f); + + float2 OffsetA = v.z * ZShear; + float2 TexA = (float2(v.x, v.y) + OffsetA + 0.5f) / 128.0f; + float4 PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexA.x,1.0-TexA.y),tex::wrap_repeat,tex::wrap_repeat); + return float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z) * 2.0 - 1.0; +} + +float3 SkewSimplex(float3 In) +{ + return In + math::dot(In, float3(1.0 / 3.0f) ); +} +float3 UnSkewSimplex(float3 In) +{ + return In - math::dot(In, float3(1.0 / 6.0f) ); +} + +// 3D random number generator inspired by PCGs (permuted congruential generator) +// Using a **simple** Feistel cipher in place of the usual xor shift permutation step +// @param v = 3D integer coordinate +// @return three elements w/ 16 random bits each (0-0xffff). +// ~8 ALU operations for result.x (7 mad, 1 >>) +// ~10 ALU operations for result.xy (8 mad, 2 >>) +// ~12 ALU operations for result.xyz (9 mad, 3 >>) + +//TODO: uint3 +int3 Rand3DPCG16(int3 p) +{ + // taking a signed int then reinterpreting as unsigned gives good behavior for negatives + //TODO: uint3 + int3 v = int3(p); + + // Linear congruential step. These LCG constants are from Numerical Recipies + // For additional #'s, PCG would do multiple LCG steps and scramble each on output + // So v here is the RNG state + v = v * 1664525 + 1013904223; + + // PCG uses xorshift for the final shuffle, but it is expensive (and cheap + // versions of xorshift have visible artifacts). Instead, use simple MAD Feistel steps + // + // Feistel ciphers divide the state into separate parts (usually by bits) + // then apply a series of permutation steps one part at a time. The permutations + // use a reversible operation (usually ^) to part being updated with the result of + // a permutation function on the other parts and the key. + // + // In this case, I'm using v.x, v.y and v.z as the parts, using + instead of ^ for + // the combination function, and just multiplying the other two parts (no key) for + // the permutation function. + // + // That gives a simple mad per round. + v.x += v.y*v.z; + v.y += v.z*v.x; + v.z += v.x*v.y; + v.x += v.y*v.z; + v.y += v.z*v.x; + v.z += v.x*v.y; + + // only top 16 bits are well shuffled + return v >> 16; +} + +// Wraps noise for tiling texture creation +// @param v = unwrapped texture parameter +// @param bTiling = true to tile, false to not tile +// @param RepeatSize = number of units before repeating +// @return either original or wrapped coord +float3 NoiseTileWrap(float3 v, bool bTiling, float RepeatSize) +{ + return bTiling ? (math::frac(v / RepeatSize) * RepeatSize) : v; +} + +// Evaluate polynomial to get smooth transitions for Perlin noise +// only needed by Perlin functions in this file +// scalar(per component): 2 add, 5 mul +float4 PerlinRamp(float4 t) +{ + return t * t * t * (t * (t * 6 - 15) + 10); +} + +// Blum-Blum-Shub-inspired pseudo random number generator +// http://www.umbc.edu/~olano/papers/mNoise.pdf +// real BBS uses ((s*s) mod M) with bignums and M as the product of two huge Blum primes +// instead, we use a single prime M just small enough not to overflow +// note that the above paper used 61, which fits in a half, but is unusably bad +// @param Integer valued floating point seed +// @return random number in range [0,1) +// ~8 ALU operations (5 *, 3 frac) +float RandBBSfloat(float seed) +{ + float BBS_PRIME24 = 4093.0; + float s = math::frac(seed / BBS_PRIME24); + s = math::frac(s * s * BBS_PRIME24); + s = math::frac(s * s * BBS_PRIME24); + return s; +} + +// Modified noise gradient term +// @param seed - random seed for integer lattice position +// @param offset - [-1,1] offset of evaluation point from lattice point +// @return gradient direction (xyz) and contribution (w) from this lattice point +float4 MGradient(int seed, float3 offset) +{ + //TODO uint + int rand = Rand3DPCG16(int3(seed,0,0)).x; + int3 MGradientMask = int3(0x8000, 0x4000, 0x2000); + float3 MGradientScale = float3(1.0 / 0x4000, 1.0 / 0x2000, 1.0 / 0x1000); + float3 direction = float3(int3(rand, rand, rand) & MGradientMask) * MGradientScale - 1; + return float4(direction.x, direction.y, direction.z, math::dot(direction, offset)); +} + +// compute Perlin and related noise corner seed values +// @param v = 3D noise argument, use float3(x,y,0) for 2D or float3(x,0,0) for 1D +// @param bTiling = true to return seed values for a repeating noise pattern +// @param RepeatSize = integer units before tiling in each dimension +// @param seed000-seed111 = hash function seeds for the eight corners +// @return fractional part of v +struct SeedValue +{ + float3 fv = float3(0); + float seed000 = 0; + float seed001 = 0; + float seed010 = 0; + float seed011 = 0; + float seed100 = 0; + float seed101 = 0; + float seed110 = 0; + float seed111 = 0; +}; + +SeedValue NoiseSeeds(float3 v, bool bTiling, float RepeatSize) +{ + SeedValue seeds; + seeds.fv = math::frac(v); + float3 iv = math::floor(v); + + const float3 primes = float3(19, 47, 101); + + if (bTiling) + { // can't algebraically combine with primes + seeds.seed000 = math::dot(primes, NoiseTileWrap(iv, true, RepeatSize)); + seeds.seed100 = math::dot(primes, NoiseTileWrap(iv + float3(1, 0, 0), true, RepeatSize)); + seeds.seed010 = math::dot(primes, NoiseTileWrap(iv + float3(0, 1, 0), true, RepeatSize)); + seeds.seed110 = math::dot(primes, NoiseTileWrap(iv + float3(1, 1, 0), true, RepeatSize)); + seeds.seed001 = math::dot(primes, NoiseTileWrap(iv + float3(0, 0, 1), true, RepeatSize)); + seeds.seed101 = math::dot(primes, NoiseTileWrap(iv + float3(1, 0, 1), true, RepeatSize)); + seeds.seed011 = math::dot(primes, NoiseTileWrap(iv + float3(0, 1, 1), true, RepeatSize)); + seeds.seed111 = math::dot(primes, NoiseTileWrap(iv + float3(1, 1, 1), true, RepeatSize)); + } + else + { // get to combine offsets with multiplication by primes in this case + seeds.seed000 = math::dot(iv, primes); + seeds.seed100 = seeds.seed000 + primes.x; + seeds.seed010 = seeds.seed000 + primes.y; + seeds.seed110 = seeds.seed100 + primes.y; + seeds.seed001 = seeds.seed000 + primes.z; + seeds.seed101 = seeds.seed100 + primes.z; + seeds.seed011 = seeds.seed010 + primes.z; + seeds.seed111 = seeds.seed110 + primes.z; + } + + return seeds; +} + +struct SimplexWeights +{ + float4 Result = float4(0); + float3 PosA = float3(0); + float3 PosB = float3(0); + float3 PosC = float3(0); + float3 PosD = float3(0); +}; + +// Computed weights and sample positions for simplex interpolation +// @return float4(a,b,c, d) Barycentric coordinate defined as Filtered = Tex(PosA) * a + Tex(PosB) * b + Tex(PosC) * c + Tex(PosD) * d +SimplexWeights ComputeSimplexWeights3D(float3 OrthogonalPos) +{ + SimplexWeights weights; + float3 OrthogonalPosFloor = math::floor(OrthogonalPos); + + weights.PosA = OrthogonalPosFloor; + weights.PosB = weights.PosA + float3(1, 1, 1); + + OrthogonalPos -= OrthogonalPosFloor; + + float Largest = math::max(OrthogonalPos.x, math::max(OrthogonalPos.y, OrthogonalPos.z)); + float Smallest = math::min(OrthogonalPos.x, math::min(OrthogonalPos.y, OrthogonalPos.z)); + + weights.PosC = weights.PosA + float3(Largest == OrthogonalPos.x, Largest == OrthogonalPos.y, Largest == OrthogonalPos.z); + weights.PosD = weights.PosA + float3(Smallest != OrthogonalPos.x, Smallest != OrthogonalPos.y, Smallest != OrthogonalPos.z); + + float RG = OrthogonalPos.x - OrthogonalPos.y; + float RB = OrthogonalPos.x - OrthogonalPos.z; + float GB = OrthogonalPos.y - OrthogonalPos.z; + + weights.Result.z = + math::min(math::max(0, RG), math::max(0, RB)) // X + + math::min(math::max(0, -RG), math::max(0, GB)) // Y + + math::min(math::max(0, -RB), math::max(0, -GB)); // Z + + weights.Result.w = + math::min(math::max(0, -RG), math::max(0, -RB)) // X + + math::min(math::max(0, RG), math::max(0, -GB)) // Y + + math::min(math::max(0, RB), math::max(0, GB)); // Z + + weights.Result.y = Smallest; + weights.Result.x = 1.0f - weights.Result.y - weights.Result.z - weights.Result.w; + + return weights; +} + +// filtered 3D gradient simple noise (few texture lookups, high quality) +// @param v >0 +// @return random number in the range -1 .. 1 +float SimplexNoise3D_TEX(uniform texture_2d PerlinNoiseGradientTexture, float3 EvalPos) +{ + float3 OrthogonalPos = SkewSimplex(EvalPos); + + SimplexWeights Weights = ComputeSimplexWeights3D(OrthogonalPos); + + // can be optimized to 1 or 2 texture lookups (4 or 8 channel encoded in 32 bit) + float3 A = GetPerlinNoiseGradientTextureAt(PerlinNoiseGradientTexture, Weights.PosA); + float3 B = GetPerlinNoiseGradientTextureAt(PerlinNoiseGradientTexture, Weights.PosB); + float3 C = GetPerlinNoiseGradientTextureAt(PerlinNoiseGradientTexture, Weights.PosC); + float3 D = GetPerlinNoiseGradientTextureAt(PerlinNoiseGradientTexture, Weights.PosD); + + Weights.PosA = UnSkewSimplex(Weights.PosA); + Weights.PosB = UnSkewSimplex(Weights.PosB); + Weights.PosC = UnSkewSimplex(Weights.PosC); + Weights.PosD = UnSkewSimplex(Weights.PosD); + + float DistanceWeight; + + DistanceWeight = math::saturate(0.6f - length2(EvalPos - Weights.PosA)); DistanceWeight *= DistanceWeight; DistanceWeight *= DistanceWeight; + float a = math::dot(A, EvalPos - Weights.PosA) * DistanceWeight; + DistanceWeight = math::saturate(0.6f - length2(EvalPos - Weights.PosB)); DistanceWeight *= DistanceWeight; DistanceWeight *= DistanceWeight; + float b = math::dot(B, EvalPos - Weights.PosB) * DistanceWeight; + DistanceWeight = math::saturate(0.6f - length2(EvalPos - Weights.PosC)); DistanceWeight *= DistanceWeight; DistanceWeight *= DistanceWeight; + float c = math::dot(C, EvalPos - Weights.PosC) * DistanceWeight; + DistanceWeight = math::saturate(0.6f - length2(EvalPos - Weights.PosD)); DistanceWeight *= DistanceWeight; DistanceWeight *= DistanceWeight; + float d = math::dot(D, EvalPos - Weights.PosD) * DistanceWeight; + + return 32 * (a + b + c + d); +} + +// filtered 3D noise, can be optimized +// @param v = 3D noise argument, use float3(x,y,0) for 2D or float3(x,0,0) for 1D +// @param bTiling = repeat noise pattern +// @param RepeatSize = integer units before tiling in each dimension +// @return random number in the range -1 .. 1 +float GradientNoise3D_TEX(uniform texture_2d PerlinNoiseGradientTexture, float3 v, bool bTiling, float RepeatSize) +{ + bTiling = true; + float3 fv = math::frac(v); + float3 iv0 = NoiseTileWrap(math::floor(v), bTiling, RepeatSize); + float3 iv1 = NoiseTileWrap(iv0 + 1, bTiling, RepeatSize); + + const int2 ZShear = int2(17, 89); + + float2 OffsetA = iv0.z * ZShear; + float2 OffsetB = OffsetA + ZShear; // non-tiling, use relative offset + if (bTiling) // tiling, have to compute from wrapped coordinates + { + OffsetB = iv1.z * ZShear; + } + + // Texture size scale factor + float ts = 1 / 128.0f; + + // texture coordinates for iv0.xy, as offset for both z slices + float2 TexA0 = (float2(iv0.x, iv0.y) + OffsetA + 0.5f) * ts; + float2 TexB0 = (float2(iv0.x, iv0.y) + OffsetB + 0.5f) * ts; + + // texture coordinates for iv1.xy, as offset for both z slices + float2 TexA1 = TexA0 + ts; // for non-tiling, can compute relative to existing coordinates + float2 TexB1 = TexB0 + ts; + if (bTiling) // for tiling, need to compute from wrapped coordinates + { + TexA1 = (float2(iv1.x, iv1.y) + OffsetA + 0.5f) * ts; + TexB1 = (float2(iv1.x, iv1.y) + OffsetB + 0.5f) * ts; + } + + + // can be optimized to 1 or 2 texture lookups (4 or 8 channel encoded in 8, 16 or 32 bit) + float4 PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexA0.x,1.0-TexA0.y),tex::wrap_repeat,tex::wrap_repeat); + float3 PerlinNoiseColor = float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z); + float3 A = PerlinNoiseColor * 2 - 1; + PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexA1.x,1.0-TexA0.y),tex::wrap_repeat,tex::wrap_repeat); + PerlinNoiseColor = float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z); + float3 B = PerlinNoiseColor * 2 - 1; + PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexA0.x,1.0-TexA1.y),tex::wrap_repeat,tex::wrap_repeat); + PerlinNoiseColor = float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z); + float3 C = PerlinNoiseColor * 2 - 1; + PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexA1.x,1.0-TexA1.y),tex::wrap_repeat,tex::wrap_repeat); + PerlinNoiseColor = float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z); + float3 D = PerlinNoiseColor * 2 - 1; + PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexB0.x,1.0-TexB0.y),tex::wrap_repeat,tex::wrap_repeat); + PerlinNoiseColor = float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z); + float3 E = PerlinNoiseColor * 2 - 1; + PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexB1.x,1.0-TexB0.y),tex::wrap_repeat,tex::wrap_repeat); + PerlinNoiseColor = float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z); + float3 F = PerlinNoiseColor * 2 - 1; + PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexB0.x,1.0-TexB1.y),tex::wrap_repeat,tex::wrap_repeat); + PerlinNoiseColor = float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z); + float3 G = PerlinNoiseColor * 2 - 1; + PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexB1.x,1.0-TexB1.y),tex::wrap_repeat,tex::wrap_repeat); + PerlinNoiseColor = float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z); + float3 H = PerlinNoiseColor * 2 - 1; + + float a = math::dot(A, fv - float3(0, 0, 0)); + float b = math::dot(B, fv - float3(1, 0, 0)); + float c = math::dot(C, fv - float3(0, 1, 0)); + float d = math::dot(D, fv - float3(1, 1, 0)); + float e = math::dot(E, fv - float3(0, 0, 1)); + float f = math::dot(F, fv - float3(1, 0, 1)); + float g = math::dot(G, fv - float3(0, 1, 1)); + float h = math::dot(H, fv - float3(1, 1, 1)); + + float4 Weights = PerlinRamp(math::frac(float4(fv.x, fv.y, fv.z, 0))); + + float i = math::lerp(math::lerp(a, b, Weights.x), math::lerp(c, d, Weights.x), Weights.y); + float j = math::lerp(math::lerp(e, f, Weights.x), math::lerp(g, h, Weights.x), Weights.y); + + return math::lerp(i, j, Weights.z); +} + +// @return random number in the range -1 .. 1 +// scalar: 6 frac, 31 mul/mad, 15 add, +float FastGradientPerlinNoise3D_TEX(uniform texture_3d PerlinNoise3DTexture, float3 xyz) +{ + // needs to be the same value when creating the PerlinNoise3D texture + float Extent = 16; + + // last texel replicated and needed for filtering + // scalar: 3 frac, 6 mul + xyz = math::frac(xyz / (Extent - 1)) * (Extent - 1); + + // scalar: 3 frac + float3 uvw = math::frac(xyz); + // = floor(xyz); + // scalar: 3 add + float3 p0 = xyz - uvw; +// float3 f = math::pow(uvw, 2) * 3.0f - math::pow(uvw, 3) * 2.0f; // original perlin hermite (ok when used without bump mapping) + // scalar: 2*3 add 5*3 mul + float4 pr = PerlinRamp(float4(uvw.x, uvw.y, uvw.z, 0)); + float3 f = float3(pr.x, pr.y, pr.z); // new, better with continues second derivative for bump mapping + // scalar: 3 add + float3 p = p0 + f; + // scalar: 3 mad + // TODO: need reverse??? + float4 NoiseSample = tex::lookup_float4(PerlinNoise3DTexture, p / Extent + 0.5f / Extent); // +0.5f to get rid of bilinear offset + + // reconstruct from 8bit (using mad with 2 constants and dot4 was same instruction count) + // scalar: 4 mad, 3 mul, 3 add + float3 n = float3(NoiseSample.x, NoiseSample.y, NoiseSample.z) * 255.0f / 127.0f - 1.0f; + float d = NoiseSample.w * 255.f - 127; + return math::dot(xyz, n) - d; +} + +// Perlin-style "Modified Noise" +// http://www.umbc.edu/~olano/papers/index.html#mNoise +// @param v = 3D noise argument, use float3(x,y,0) for 2D or float3(x,0,0) for 1D +// @param bTiling = repeat noise pattern +// @param RepeatSize = integer units before tiling in each dimension +// @return random number in the range -1 .. 1 +float GradientNoise3D_ALU(float3 v, bool bTiling, float RepeatSize) +{ + SeedValue seeds = NoiseSeeds(v, bTiling, RepeatSize); + + float rand000 = MGradient(int(seeds.seed000), seeds.fv - float3(0, 0, 0)).w; + float rand100 = MGradient(int(seeds.seed100), seeds.fv - float3(1, 0, 0)).w; + float rand010 = MGradient(int(seeds.seed010), seeds.fv - float3(0, 1, 0)).w; + float rand110 = MGradient(int(seeds.seed110), seeds.fv - float3(1, 1, 0)).w; + float rand001 = MGradient(int(seeds.seed001), seeds.fv - float3(0, 0, 1)).w; + float rand101 = MGradient(int(seeds.seed101), seeds.fv - float3(1, 0, 1)).w; + float rand011 = MGradient(int(seeds.seed011), seeds.fv - float3(0, 1, 1)).w; + float rand111 = MGradient(int(seeds.seed111), seeds.fv - float3(1, 1, 1)).w; + + float4 Weights = PerlinRamp(float4(seeds.fv.x, seeds.fv.y, seeds.fv.z, 0)); + + float i = math::lerp(math::lerp(rand000, rand100, Weights.x), math::lerp(rand010, rand110, Weights.x), Weights.y); + float j = math::lerp(math::lerp(rand001, rand101, Weights.x), math::lerp(rand011, rand111, Weights.x), Weights.y); + return math::lerp(i, j, Weights.z); +} + +// 3D value noise - used to be incorrectly called Perlin noise +// @param v = 3D noise argument, use float3(x,y,0) for 2D or float3(x,0,0) for 1D +// @param bTiling = repeat noise pattern +// @param RepeatSize = integer units before tiling in each dimension +// @return random number in the range -1 .. 1 +float ValueNoise3D_ALU(float3 v, bool bTiling, float RepeatSize) +{ + SeedValue seeds = NoiseSeeds(v, bTiling, RepeatSize); + + float rand000 = RandBBSfloat(seeds.seed000) * 2 - 1; + float rand100 = RandBBSfloat(seeds.seed100) * 2 - 1; + float rand010 = RandBBSfloat(seeds.seed010) * 2 - 1; + float rand110 = RandBBSfloat(seeds.seed110) * 2 - 1; + float rand001 = RandBBSfloat(seeds.seed001) * 2 - 1; + float rand101 = RandBBSfloat(seeds.seed101) * 2 - 1; + float rand011 = RandBBSfloat(seeds.seed011) * 2 - 1; + float rand111 = RandBBSfloat(seeds.seed111) * 2 - 1; + + float4 Weights = PerlinRamp(float4(seeds.fv.x, seeds.fv.y, seeds.fv.z, 0)); + + float i = math::lerp(math::lerp(rand000, rand100, Weights.x), math::lerp(rand010, rand110, Weights.x), Weights.y); + float j = math::lerp(math::lerp(rand001, rand101, Weights.x), math::lerp(rand011, rand111, Weights.x), Weights.y); + return math::lerp(i, j, Weights.z); +} + +// 3D jitter offset within a voronoi noise cell +// @param pos - integer lattice corner +// @return random offsets vector +float3 VoronoiCornerSample(float3 pos, int Quality) +{ + // random values in [-0.5, 0.5] + float3 noise = float3(Rand3DPCG16(int3(pos))) / 0xffff - 0.5; + + // quality level 1 or 2: searches a 2x2x2 neighborhood with points distributed on a sphere + // scale factor to guarantee jittered points will be found within a 2x2x2 search + if (Quality <= 2) + { + return math::normalize(noise) * 0.2588; + } + + // quality level 3: searches a 3x3x3 neighborhood with points distributed on a sphere + // scale factor to guarantee jittered points will be found within a 3x3x3 search + if (Quality == 3) + { + return math::normalize(noise) * 0.3090; + } + + // quality level 4: jitter to anywhere in the cell, needs 4x4x4 search + return noise; +} + +// compare previous best with a new candidate +// not producing point locations makes it easier for compiler to eliminate calculations when they're not needed +// @param minval = location and distance of best candidate seed point before the new one +// @param candidate = candidate seed point +// @param offset = 3D offset to new candidate seed point +// @param bDistanceOnly = if true, only set maxval.w with distance, otherwise maxval.w is distance and maxval.xyz is position +// @return position (if bDistanceOnly is false) and distance to closest seed point so far +float4 VoronoiCompare(float4 minval, float3 candidate, float3 offset, bool bDistanceOnly) +{ + if (bDistanceOnly) + { + return float4(0, 0, 0, math::min(minval.w, math::dot(offset, offset))); + } + else + { + float newdist = math::dot(offset, offset); + return newdist > minval.w ? minval : float4(candidate.x, candidate.y, candidate.z, newdist); + } +} + +// 220 instruction Worley noise +float4 VoronoiNoise3D_ALU(float3 v, int Quality, bool bTiling, float RepeatSize, bool bDistanceOnly) +{ + float3 fv = math::frac(v), fv2 = math::frac(v + 0.5); + float3 iv = math::floor(v), iv2 = math::floor(v + 0.5); + + // with initial minimum distance = infinity (or at least bigger than 4), first min is optimized away + float4 mindist = float4(0,0,0,100); + float3 p, offset; + + // quality level 3: do a 3x3x3 search + if (Quality == 3) + { + int offset_x; + int offset_y; + int offset_z; + for (offset_x = -1; offset_x <= 1; ++offset_x) + { + for (offset_y = -1; offset_y <= 1; ++offset_y) + { + for (offset_z = -1; offset_z <= 1; ++offset_z) + { + offset = float3(offset_x, offset_y, offset_z); + p = offset + VoronoiCornerSample(NoiseTileWrap(iv2 + offset, bTiling, RepeatSize), Quality); + mindist = VoronoiCompare(mindist, iv2 + p, fv2 - p, bDistanceOnly); + } + } + } + } + + // everybody else searches a base 2x2x2 neighborhood + else + { + int offset_x; + int offset_y; + int offset_z; + for (offset_x = 0; offset_x <= 1; ++offset_x) + { + for (offset_y = 0; offset_y <= 1; ++offset_y) + { + for (offset_z = 0; offset_z <= 1; ++offset_z) + { + offset = float3(offset_x, offset_y, offset_z); + p = offset + VoronoiCornerSample(NoiseTileWrap(iv + offset, bTiling, RepeatSize), Quality); + mindist = VoronoiCompare(mindist, iv + p, fv - p, bDistanceOnly); + + // quality level 2, do extra set of points, offset by half a cell + if (Quality == 2) + { + // 467 is just an offset to a different area in the random number field to avoid similar neighbor artifacts + p = offset + VoronoiCornerSample(NoiseTileWrap(iv2 + offset, bTiling, RepeatSize) + 467, Quality); + mindist = VoronoiCompare(mindist, iv2 + p, fv2 - p, bDistanceOnly); + } + } + } + } + } + + // quality level 4: add extra sets of four cells in each direction + if (Quality >= 4) + { + int offset_x; + int offset_y; + int offset_z; + for (offset_x = -1; offset_x <= 2; offset_x += 3) + { + for (offset_y = 0; offset_y <= 1; ++offset_y) + { + for (offset_z = 0; offset_z <= 1; ++offset_z) + { + offset = float3(offset_x, offset_y, offset_z); + // along x axis + p = offset + VoronoiCornerSample(NoiseTileWrap(iv + offset, bTiling, RepeatSize), Quality); + mindist = VoronoiCompare(mindist, iv + p, fv - p, bDistanceOnly); + + // along y axis + p = float3(offset.y, offset.z, offset.x) + VoronoiCornerSample(NoiseTileWrap(iv + float3(offset.y, offset.z, offset.x), bTiling, RepeatSize), Quality); + mindist = VoronoiCompare(mindist, iv + p, fv - p, bDistanceOnly); + + // along z axis + p = float3(offset.z, offset.x, offset.y) + VoronoiCornerSample(NoiseTileWrap(iv + float3(offset.z, offset.x, offset.y), bTiling, RepeatSize), Quality); + mindist = VoronoiCompare(mindist, iv + p, fv - p, bDistanceOnly); + } + } + } + } + + // transform squared distance to real distance + return float4(mindist.x, mindist.y, mindist.z, math::sqrt(mindist.w)); +} + +// Coordinates for corners of a Simplex tetrahedron +// Based on McEwan et al., Efficient computation of noise in GLSL, JGT 2011 +// @param v = 3D noise argument +// @return 4 corner locations +float4x3 SimplexCorners(float3 v) +{ + // find base corner by skewing to tetrahedral space and back + float3 tet = math::floor(v + v.x/3 + v.y/3 + v.z/3); + float3 base = tet - tet.x/6 - tet.y/6 - tet.z/6; + float3 f = v - base; + + // Find offsets to other corners (McEwan did this in tetrahedral space, + // but since skew is along x=y=z axis, this works in Euclidean space too.) + float3 g = math::step(float3(f.y,f.z,f.x), float3(f.x,f.y,f.z)), h = 1 - float3(g.z, g.x, g.y); + float3 a1 = math::min(g, h) - 1.0 / 6.0, a2 = math::max(g, h) - 1.0 / 3.0; + + // four corners + return float4x3(base, base + a1, base + a2, base + 0.5); +} + +// Improved smoothing function for simplex noise +// @param f = fractional distance to four tetrahedral corners +// @return weight for each corner +float4 SimplexSmooth(float4x3 f) +{ + const float scale = 1024. / 375.; // scale factor to make noise -1..1 + float4 d = float4(math::dot(f[0], f[0]), math::dot(f[1], f[1]), math::dot(f[2], f[2]), math::dot(f[3], f[3])); + float4 s = math::saturate(2 * d); + return (1 * scale + s*(-3 * scale + s*(3 * scale - s*scale))); +} + +// Derivative of simplex noise smoothing function +// @param f = fractional distanc eto four tetrahedral corners +// @return derivative of smoothing function for each corner by x, y and z +float3x4 SimplexDSmooth(float4x3 f) +{ + const float scale = 1024. / 375.; // scale factor to make noise -1..1 + float4 d = float4(math::dot(f[0], f[0]), math::dot(f[1], f[1]), math::dot(f[2], f[2]), math::dot(f[3], f[3])); + float4 s = math::saturate(2 * d); + s = -12 * scale + s*(24 * scale - s * 12 * scale); + + return float3x4( + s * float4(f[0][0], f[1][0], f[2][0], f[3][0]), + s * float4(f[0][1], f[1][1], f[2][1], f[3][1]), + s * float4(f[0][2], f[1][2], f[2][2], f[3][2])); +} + +// Simplex noise and its Jacobian derivative +// @param v = 3D noise argument +// @param bTiling = whether to repeat noise pattern +// @param RepeatSize = integer units before tiling in each dimension, must be a multiple of 3 +// @return float3x3 Jacobian in J[*].xyz, vector noise in J[*].w +// J[0].w, J[1].w, J[2].w is a Perlin-style simplex noise with vector output, e.g. (Nx, Ny, Nz) +// J[i].x is X derivative of the i'th component of the noise so J[2].x is dNz/dx +// You can use this to compute the noise, gradient, curl, or divergence: +// float3x4 J = JacobianSimplex_ALU(...); +// float3 VNoise = float3(J[0].w, J[1].w, J[2].w); // 3D noise +// float3 Grad = J[0].xyz; // gradient of J[0].w +// float3 Curl = float3(J[1][2]-J[2][1], J[2][0]-J[0][2], J[0][1]-J[1][2]); +// float Div = J[0][0]+J[1][1]+J[2][2]; +// All of these are confirmed to compile out all unneeded terms. +// So Grad of X doesn't compute Y or Z components, and VNoise doesn't do any of the derivative computation. +float3x4 JacobianSimplex_ALU(float3 v, bool bTiling, float RepeatSize) +{ + int3 MGradientMask = int3(0x8000, 0x4000, 0x2000); + float3 MGradientScale = float3(1. / 0x4000, 1. / 0x2000, 1. / 0x1000); + + // corners of tetrahedron + float4x3 T = SimplexCorners(v); + // TODO: uint3 + int3 rand = int3(0); + float4x3 gvec0 = float4x3(1.0); + float4x3 gvec1 = float4x3(1.0); + float4x3 gvec2 = float4x3(1.0); + float4x3 fv = float4x3(1.0); + float3x4 grad = float3x4(1.0); + + // processing of tetrahedral vertices, unrolled + // to compute gradient at each corner + fv[0] = v - T[0]; + rand = Rand3DPCG16(int3(math::floor(NoiseTileWrap(6 * T[0] + 0.5, bTiling, RepeatSize)))); + gvec0[0] = float3(int3(rand.x,rand.x,rand.x) & MGradientMask) * MGradientScale - 1; + gvec1[0] = float3(int3(rand.y,rand.y,rand.y) & MGradientMask) * MGradientScale - 1; + gvec2[0] = float3(int3(rand.z,rand.z,rand.z) & MGradientMask) * MGradientScale - 1; + grad[0][0] = math::dot(gvec0[0], fv[0]); + grad[1][0] = math::dot(gvec1[0], fv[0]); + grad[2][0] = math::dot(gvec2[0], fv[0]); + + fv[1] = v - T[1]; + rand = Rand3DPCG16(int3(math::floor(NoiseTileWrap(6 * T[1] + 0.5, bTiling, RepeatSize)))); + gvec0[1] = float3(int3(rand.x,rand.x,rand.x) & MGradientMask) * MGradientScale - 1; + gvec1[1] = float3(int3(rand.y,rand.y,rand.y) & MGradientMask) * MGradientScale - 1; + gvec1[1] = float3(int3(rand.z,rand.z,rand.z) & MGradientMask) * MGradientScale - 1; + grad[0][1] = math::dot(gvec0[1], fv[1]); + grad[1][1] = math::dot(gvec1[1], fv[1]); + grad[2][1] = math::dot(gvec2[1], fv[1]); + + fv[2] = v - T[2]; + rand = Rand3DPCG16(int3(math::floor(NoiseTileWrap(6 * T[2] + 0.5, bTiling, RepeatSize)))); + gvec0[2] = float3(int3(rand.x,rand.x,rand.x) & MGradientMask) * MGradientScale - 1; + gvec1[2] = float3(int3(rand.y,rand.y,rand.y) & MGradientMask) * MGradientScale - 1; + gvec2[2] = float3(int3(rand.z,rand.z,rand.z) & MGradientMask) * MGradientScale - 1; + grad[0][2] = math::dot(gvec0[2], fv[2]); + grad[1][2] = math::dot(gvec1[2], fv[2]); + grad[2][2] = math::dot(gvec2[2], fv[2]); + + fv[3] = v - T[3]; + rand = Rand3DPCG16(int3(math::floor(NoiseTileWrap(6 * T[3] + 0.5, bTiling, RepeatSize)))); + gvec0[3] = float3(int3(rand.x,rand.x,rand.x) & MGradientMask) * MGradientScale - 1; + gvec1[3] = float3(int3(rand.y,rand.y,rand.y) & MGradientMask) * MGradientScale - 1; + gvec2[3] = float3(int3(rand.z,rand.z,rand.z) & MGradientMask) * MGradientScale - 1; + grad[0][3] = math::dot(gvec0[3], fv[3]); + grad[1][3] = math::dot(gvec1[3], fv[3]); + grad[2][3] = math::dot(gvec2[3], fv[3]); + + // blend gradients + float4 sv = SimplexSmooth(fv); + float3x4 ds = SimplexDSmooth(fv); + + float3x4 jacobian = float3x4(1.0); + float3 vec0 = gvec0*sv + grad[0]*ds; // NOTE: mdl is column major, convert from UE4 (row major) + jacobian[0] = float4(vec0.x, vec0.y, vec0.z, math::dot(sv, grad[0])); + float3 vec1 = gvec1*sv + grad[1]*ds; + jacobian[1] = float4(vec1.x, vec1.y, vec1.z, math::dot(sv, grad[1])); + float3 vec2 = gvec2*sv + grad[2]*ds; + jacobian[2] = float4(vec2.x, vec2.y, vec2.z, math::dot(sv, grad[2])); + + return jacobian; +} + +// While RepeatSize is a float here, the expectation is that it would be largely integer values coming in from the UI. The downstream logic assumes +// floats for all called functions (NoiseTileWrap) and this prevents any float-to-int conversion errors from automatic type conversion. +float Noise3D_Multiplexer(uniform texture_2d PerlinNoiseGradientTexture, uniform texture_3d PerlinNoise3DTexture, int Function, float3 Position, int Quality, bool bTiling, float RepeatSize) +{ + // verified, HLSL compiled out the switch if Function is a constant + switch(Function) + { + case 0: + return SimplexNoise3D_TEX(PerlinNoiseGradientTexture, Position); + case 1: + return GradientNoise3D_TEX(PerlinNoiseGradientTexture, Position, bTiling, RepeatSize); + case 2: + return FastGradientPerlinNoise3D_TEX(PerlinNoise3DTexture, Position); + case 3: + return GradientNoise3D_ALU(Position, bTiling, RepeatSize); + case 4: + return ValueNoise3D_ALU(Position, bTiling, RepeatSize); + case 5: + return VoronoiNoise3D_ALU(Position, Quality, bTiling, RepeatSize, true).w * 2.0 - 1.0; + } + return 0; +} +//---------------------------------------------------------- + +export float noise(uniform texture_2d PerlinNoiseGradientTexture, uniform texture_3d PerlinNoise3DTexture, float3 Position, float Scale, float Quality, float Function, float Turbulence, float Levels, float OutputMin, float OutputMax, float LevelScale, float FilterWidth, float Tiling, float RepeatSize) +[[ + anno::description("Noise"), + anno::noinline() +]] +{ + Position *= Scale; + FilterWidth *= Scale; + + float Out = 0.0f; + float OutScale = 1.0f; + float InvLevelScale = 1.0f / LevelScale; + + int iFunction(Function); + int iQuality(Quality); + int iLevels(Levels); + bool bTurbulence(Turbulence); + bool bTiling(Tiling); + + for(int i = 0; i < iLevels; ++i) + { + // fade out noise level that are too high frequent (not done through dynamic branching as it usually requires gradient instructions) + OutScale *= math::saturate(1.0 - FilterWidth); + + if(bTurbulence) + { + Out += math::abs(Noise3D_Multiplexer(PerlinNoiseGradientTexture, PerlinNoise3DTexture, iFunction, Position, iQuality, bTiling, RepeatSize)) * OutScale; + } + else + { + Out += Noise3D_Multiplexer(PerlinNoiseGradientTexture, PerlinNoise3DTexture, iFunction, Position, iQuality, bTiling, RepeatSize) * OutScale; + } + + Position *= LevelScale; + RepeatSize *= LevelScale; + OutScale *= InvLevelScale; + FilterWidth *= LevelScale; + } + + if(!bTurbulence) + { + // bring -1..1 to 0..1 range + Out = Out * 0.5f + 0.5f; + } + + // Out is in 0..1 range + return math::lerp(OutputMin, OutputMax, Out); +} + +// Material node for noise functions returning a vector value +// @param LevelScale usually 2 but higher values allow efficient use of few levels +// @return in user defined range (OutputMin..OutputMax) +export float4 vector4_noise(float3 Position, float Quality, float Function, float Tiling, float TileSize) +[[ + anno::description("Vector Noise"), + anno::noinline() +]] +{ + float4 result = float4(0,0,0,1); + float3 ret = float3(0); + int iQuality = int(Quality); + int iFunction = int(Function); + bool bTiling = Tiling > 0.0; + + float3x4 Jacobian = JacobianSimplex_ALU(Position, bTiling, TileSize); // compiled out if not used + + // verified, HLSL compiled out the switch if Function is a constant + switch (iFunction) + { + case 0: // Cellnoise + ret = float3(Rand3DPCG16(int3(math::floor(NoiseTileWrap(Position, bTiling, TileSize))))) / 0xffff; + result = float4(ret.x, ret.y, ret.z, 1); + break; + case 1: // Color noise + ret = float3(Jacobian[0].w, Jacobian[1].w, Jacobian[2].w); + result = float4(ret.x, ret.y, ret.z, 1); + break; + case 2: // Gradient + result = Jacobian[0]; + break; + case 3: // Curl + ret = float3(Jacobian[2][1] - Jacobian[1][2], Jacobian[0][2] - Jacobian[2][0], Jacobian[1][0] - Jacobian[0][1]); + result = float4(ret.x, ret.y, ret.z, 1); + break; + case 4: // Voronoi + result = VoronoiNoise3D_ALU(Position, iQuality, bTiling, TileSize, false); + break; + } + return result; +} + +export float3 vector3_noise(float3 Position, float Quality, float Function, float Tiling, float TileSize) +[[ + anno::description("Vector Noise float3 version"), + anno::noinline() +]] +{ + float4 noise = vector4_noise(Position, Quality, Function, Tiling, TileSize); + return float3(noise.x, noise.y, noise.z); +} + + +// workaround for ue4 fresnel (without supporting for camera vector) : replacing it with 0.0, means facing to the view +export float fresnel(float exponent [[anno::unused()]], float base_reflect_fraction [[anno::unused()]], float3 normal [[anno::unused()]]) +[[ + anno::description("Fresnel"), + anno::noinline() +]] +{ + return 0.0; +} + +export float fresnel_function(float3 normal_vector [[anno::unused()]], float3 camera_vector [[anno::unused()]], + bool invert_fresnel [[anno::unused()]], float power [[anno::unused()]], + bool use_cheap_contrast [[anno::unused()]], float cheap_contrast_dark [[anno::unused()]], float cheap_contrast_bright [[anno::unused()]], + bool clamp_fresnel_dot_product [[anno::unused()]]) +[[ + anno::description("Fresnel Function"), + anno::noinline() +]] +{ + return 0.0; +} + +export float3 camera_vector(uniform bool up_z = true) +[[ + anno::description("Camera Vector"), + anno::noinline() +]] +{ + // assume camera postion is 0,0,0 + return math::normalize(float3(0) - convert_to_left_hand(state::transform_point(state::coordinate_internal,state::coordinate_world,state::position()), up_z)); +} + +export float pixel_depth() +[[ + anno::description("Pixel Depth"), + anno::noinline() +]] +{ + return 256.0f; +} + +export float scene_depth() +[[ + anno::description("Scene Depth") +]] +{ + return 65500.0f; +} + +export float3 scene_color() +[[ + anno::description("Scene Color") +]] +{ + return float3(1.0f); +} + +export float4 vertex_color() +[[ + anno::description("Vertex Color"), + anno::noinline() +]] +{ + return float4(1.0f); +} + +export float4 vertex_color_from_coordinate(int VertexColorCoordinateIndex) +[[ + anno::description("Vertex Color for float2 PrimVar"), + anno::noinline() +]] +{ + // Kit only supports 4 uv sets, 2 uvs are available to vertex color. if vertex color index is invalid, output the constant WHITE color intead + return (VertexColorCoordinateIndex > 2) ? float4(1.0f) : float4(state::texture_coordinate(VertexColorCoordinateIndex).x, state::texture_coordinate(VertexColorCoordinateIndex).y, state::texture_coordinate(VertexColorCoordinateIndex+1).x, state::texture_coordinate(VertexColorCoordinateIndex+1).y); +} + +export float3 camera_position() +[[ + anno::description("Camera Position"), + anno::noinline() +]] +{ + return float3(1000.0f, 0, 0); +} + +export float3 rotate_about_axis(float4 NormalizedRotationAxisAndAngle, float3 PositionOnAxis, float3 Position) +[[ + anno::description("Rotates Position about the given axis by the given angle") +]] +{ + // Project Position onto the rotation axis and find the closest point on the axis to Position + float3 NormalizedRotationAxis = float3(NormalizedRotationAxisAndAngle.x,NormalizedRotationAxisAndAngle.y,NormalizedRotationAxisAndAngle.z); + float3 ClosestPointOnAxis = PositionOnAxis + NormalizedRotationAxis * math::dot(NormalizedRotationAxis, Position - PositionOnAxis); + // Construct orthogonal axes in the plane of the rotation + float3 UAxis = Position - ClosestPointOnAxis; + float3 VAxis = math::cross(NormalizedRotationAxis, UAxis); + float[2] SinCosAngle = math::sincos(NormalizedRotationAxisAndAngle.w); + // Rotate using the orthogonal axes + float3 R = UAxis * SinCosAngle[1] + VAxis * SinCosAngle[0]; + // Reconstruct the rotated world space position + float3 RotatedPosition = ClosestPointOnAxis + R; + // Convert from position to a position offset + return RotatedPosition - Position; +} + +export float2 rotate_scale_offset_texcoords(float2 InTexCoords, float4 InRotationScale, float2 InOffset) +[[ + anno::description("Returns a float2 texture coordinate after 2x2 transform and offset applied") +]] +{ + return float2(math::dot(InTexCoords, float2(InRotationScale.x, InRotationScale.y)), math::dot(InTexCoords, float2(InRotationScale.z, InRotationScale.w))) + InOffset; +} + +export float3 reflection_custom_world_normal(float3 WorldNormal, bool bNormalizeInputNormal, uniform bool up_z = true) +[[ + anno::description("Reflection vector about the specified world space normal") +]] +{ + if (bNormalizeInputNormal) + { + WorldNormal = math::normalize(WorldNormal); + } + + return -camera_vector(up_z) + WorldNormal * math::dot(WorldNormal, camera_vector(up_z)) * 2.0; +} + +export float3 reflection_vector(uniform bool up_z = true) +[[ + anno::description("Reflection Vector"), + anno::noinline() +]] +{ + float3 normal = convert_to_left_hand(state::transform_normal(state::coordinate_internal,state::coordinate_world,state::normal()), up_z, false); + return reflection_custom_world_normal(normal, false, up_z); +} + +export float dither_temporalAA(float AlphaThreshold = 0.5f, float Random = 1.0f [[anno::unused()]]) +[[ + anno::description("Dither TemporalAA"), + anno::noinline() +]] +{ + return AlphaThreshold; +} + +export float3 black_body( float Temp ) +[[ + anno::description("Black Body"), + anno::noinline() +]] +{ + float u = ( 0.860117757f + 1.54118254e-4f * Temp + 1.28641212e-7f * Temp*Temp ) / ( 1.0f + 8.42420235e-4f * Temp + 7.08145163e-7f * Temp*Temp ); + float v = ( 0.317398726f + 4.22806245e-5f * Temp + 4.20481691e-8f * Temp*Temp ) / ( 1.0f - 2.89741816e-5f * Temp + 1.61456053e-7f * Temp*Temp ); + + float x = 3*u / ( 2*u - 8*v + 4 ); + float y = 2*v / ( 2*u - 8*v + 4 ); + float z = 1 - x - y; + + float Y = 1; + float X = Y/y * x; + float Z = Y/y * z; + + float3x3 XYZtoRGB = float3x3( + float3(3.2404542, -1.5371385, -0.4985314), + float3(-0.9692660, 1.8760108, 0.0415560), + float3(0.0556434, -0.2040259, 1.0572252) + ); + + return XYZtoRGB * float3( X, Y, Z ) * math::pow( 0.0004 * Temp, 4 ); +} + +export float per_instance_random(uniform texture_2d PerlinNoiseGradientTexture, int NumberInstances) +[[ + anno::description("Per Instance Random"), + anno::noinline() +]] +{ + float weight = state::object_id() / float(NumberInstances); + return NumberInstances == 0 ? 0.0 : tex::lookup_float4(PerlinNoiseGradientTexture, float2(weight, 1.0 - weight), tex::wrap_repeat, tex::wrap_repeat).x; +} + +//------------------ Hair from UE4 ----------------------- +float3 hair_absorption_to_color(float3 A) +{ + const float B = 0.3f; + float b2 = B * B; + float b3 = B * b2; + float b4 = b2 * b2; + float b5 = B * b4; + float D = (5.969f - 0.215f * B + 2.532f * b2 - 10.73f * b3 + 5.574f * b4 + 0.245f * b5); + return math::exp(-math::sqrt(A) * D); +} + +float3 hair_color_to_absorption(float3 C) +{ + const float B = 0.3f; + float b2 = B * B; + float b3 = B * b2; + float b4 = b2 * b2; + float b5 = B * b4; + float D = (5.969f - 0.215f * B + 2.532f * b2 - 10.73f * b3 + 5.574f * b4 + 0.245f * b5); + return math::pow(math::log(C) / D, 2.0f); +} + +export float3 get_hair_color_from_melanin(float InMelanin, float InRedness, float3 InDyeColor) +[[ + anno::description("Hair Color") +]] +{ + InMelanin = math::saturate(InMelanin); + InRedness = math::saturate(InRedness); + float Melanin = -math::log(math::max(1 - InMelanin, 0.0001f)); + float Eumelanin = Melanin * (1 - InRedness); + float Pheomelanin = Melanin * InRedness; + + float3 DyeAbsorption = hair_color_to_absorption(math::saturate(InDyeColor)); + float3 Absorption = Eumelanin * float3(0.506f, 0.841f, 1.653f) + Pheomelanin * float3(0.343f, 0.733f, 1.924f); + + return hair_absorption_to_color(Absorption + DyeAbsorption); +} + +export float3 local_object_bounds_min() +[[ + anno::description("Local Object Bounds Min"), + anno::noinline() +]] +{ + return float3(0.0); +} + +export float3 local_object_bounds_max() +[[ + anno::description("Local Object Bounds Max"), + anno::noinline() +]] +{ + return float3(100.0); +} + +export float3 object_bounds() +[[ + anno::description("Object Bounds"), + anno::noinline() +]] +{ + return float3(100.0); +} + +export float object_radius() +[[ + anno::description("Object Radius"), + anno::noinline() +]] +{ + return 100.0f; +} + +export float3 object_world_position(uniform bool up_z = true) +[[ + anno::description("Object World Position"), + anno::noinline() +]] +{ + return convert_to_left_hand(state::transform_point(state::coordinate_internal,state::coordinate_world,state::position()), up_z)*state::meters_per_scene_unit()*100.0; +} + +export float3 object_orientation() +[[ + anno::description("Object Orientation"), + anno::noinline() +]] +{ + return float3(0); +} + +export float rcp(float x) +[[ + anno::description("hlsl rcp"), + anno::noinline() +]] +{ + return 1.0f / x; +} + +export float2 rcp(float2 x) +[[ + anno::description("hlsl rcp"), + anno::noinline() +]] +{ + return 1.0f / x; +} + +export float3 rcp(float3 x) +[[ + anno::description("hlsl rcp"), + anno::noinline() +]] +{ + return 1.0f / x; +} + +export float4 rcp(float4 x) +[[ + anno::description("hlsl rcp"), + anno::noinline() +]] +{ + return 1.0f / x; +} + +export int BitFieldExtractI32(int Data, int Size, int Offset) +[[ + anno::description("BitFieldExtractI32 int"), + anno::noinline() +]] +{ + Size &= 3; + Offset &= 3; + + if (Size == 0) + return 0; + else if (Offset + Size < 32) + return (Data << (32 - Size - Offset)) >> (32 - Size); + else + return Data >> Offset; +} + +export int BitFieldExtractI32(float Data, float Size, float Offset) +[[ + anno::description("BitFieldExtractI32 float"), + anno::noinline() +]] +{ + return BitFieldExtractI32(int(Data), int(Size), int(Offset)); +} + +export int BitFieldExtractU32(float Data, float Size, float Offset) +[[ + anno::description("BitFieldExtractU32 float"), + anno::noinline() +]] +{ + return BitFieldExtractI32(Data, Size, Offset); +} + +export int BitFieldExtractU32(int Data, int Size, int Offset) +[[ + anno::description("BitFieldExtractU32 int"), + anno::noinline() +]] +{ + return BitFieldExtractI32(Data, Size, Offset); +} + +export float3 EyeAdaptationInverseLookup(float3 LightValue, float Alpha) +[[ + anno::description("EyeAdaptationInverseLookup"), + anno::noinline() +]] +{ + float Adaptation = 1.0f; + + // When Alpha=0.0, we want to multiply by 1.0. when Alpha = 1.0, we want to multiply by 1/Adaptation. + // So the lerped value is: + // LerpLogScale = Lerp(log(1),log(1/Adaptaiton),T) + // Which is simplified as: + // LerpLogScale = Lerp(0,-log(Adaptation),T) + // LerpLogScale = -T * logAdaptation; + + float LerpLogScale = -Alpha * math::log(Adaptation); + float Scale = math::exp(LerpLogScale); + return LightValue * Scale; +} diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/OmniUe4Function_1.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/OmniUe4Function_1.mdl new file mode 100644 index 0000000000000000000000000000000000000000..f0801afff6f0870ea2574c9e9b6e2043e79e9a79 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/OmniUe4Function_1.mdl @@ -0,0 +1,1413 @@ +/*************************************************************************************************** + * Copyright 2020 NVIDIA Corporation. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + **************************************************************************************************/ + +//* 1.0.1 - using absolute import paths when importing standard modules + +mdl 1.6; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::tex::*; +import ::anno::*; + + +export float3 convert_to_left_hand(float3 vec3, uniform bool up_z = true, uniform bool is_position = true) +[[ + anno::description("convert from RH to LH"), + anno::noinline() +]] +{ + float4x4 ZupConversion = float4x4( + 1.0f, 0.0f, 0.0f, 0.0f, + 0.0f, -1.0f, 0.0f, 0.0f, + 0.0f, 0.0f, 1.0f, 0.0f, + 0.0f, 0.0f, 0.0f, 1.0f + ); + + float4x4 YupConversion = float4x4( + 1.0f, 0.0f, 0.0f, 0.0f, + 0.0f, 0.0f, 1.0f, 0.0f, + 0.0f, 1.0f, 0.0f, 0.0f, + 0.0f, 0.0f, 0.0f, 1.0f + ); + + float4 vec4 = float4(vec3.x, vec3.y, vec3.z, is_position ? 1.0f : 0.0f); + + vec4 = vec4 * (up_z ? ZupConversion : YupConversion); + + return float3(vec4.x, vec4.y, vec4.z); +} + +export float3 transform_vector_from_tangent_to_world(float3 vector, + uniform bool up_z = true, + float3 tangent_u = state::texture_tangent_u(0), + float3 tangent_v = state::texture_tangent_v(0)) +[[ + anno::description("Transform vector from tangent space to world space"), + anno::noinline() +]] +{ + /* flip_tangent_v */ + return convert_to_left_hand( + tangent_u * vector.x - tangent_v * vector.y + state::normal() * vector.z, + up_z, false); +} + +export float3 transform_vector_from_world_to_tangent(float3 vector, + uniform bool up_z = true, + float3 tangent_u = state::texture_tangent_u(0), + float3 tangent_v = state::texture_tangent_v(0)) +[[ + anno::description("Transform vector from world space to tangent space"), + anno::noinline() +]] +{ + float3 vecRH = convert_to_left_hand(vector, up_z, false); + /* flip_tangent_v */ + return vecRH.x * float3(tangent_u.x, -tangent_v.x, state::normal().x) + + vecRH.y * float3(tangent_u.y, -tangent_v.y, state::normal().y) + + vecRH.z * float3(tangent_u.z, -tangent_v.z, state::normal().z); +} + +export float4 unpack_normal_map( + float4 texture_sample = float4(0.0, 0.0, 1.0, 1.0) + ) +[[ + anno::description("Unpack a normal stored in a normal map"), + anno::noinline() +]] +{ + float2 normal_xy = float2(texture_sample.x, texture_sample.y); + + normal_xy = normal_xy * float2(2.0,2.0) - float2(1.0,1.0); + float normal_z = math::sqrt( math::saturate( 1.0 - math::dot( normal_xy, normal_xy ) ) ); + return float4( normal_xy.x, normal_xy.y, normal_z, 1.0 ); +} + +// for get color value from normal. +export float4 pack_normal_map( + float4 texture_sample = float4(0.0, 0.0, 1.0, 1.0) + ) +[[ + anno::description("Pack to color from a normal") +]] +{ + float2 return_xy = float2(texture_sample.x, texture_sample.y); + + return_xy = (return_xy + float2(1.0,1.0)) / float2(2.0,2.0); + + return float4( return_xy.x, return_xy.y, 0.0, 1.0 ); +} + +export float4 greyscale_texture_lookup( + float4 texture_sample = float4(0.0, 0.0, 0.0, 1.0) + ) +[[ + anno::description("Sampling a greyscale texture"), + anno::noinline() +]] +{ + return float4(texture_sample.x, texture_sample.x, texture_sample.x, texture_sample.x); +} + +export float3 pixel_normal_world_space(uniform bool up_z = true) +[[ + anno::description("Pixel normal in world space"), + anno::noinline() +]] +{ + return convert_to_left_hand(state::transform_normal(state::coordinate_internal,state::coordinate_world,state::normal()), up_z, false); +} + +export float3 vertex_normal_world_space(uniform bool up_z = true) +[[ + anno::description("Vertex normal in world space"), + anno::noinline() +]] +{ + return convert_to_left_hand(state::transform_normal(state::coordinate_internal,state::coordinate_world,state::normal()), up_z, false); +} + +export float3 landscape_normal_world_space(uniform bool up_z = true) +[[ + anno::description("Landscape normal in world space") +]] +{ + float3 normalFromNormalmap = math::floor((::vertex_normal_world_space(up_z) * 0.5 + 0.5) * 255.0) / 255.0 * 2.0 - 1.0; + + float2 normalXY = float2(normalFromNormalmap.x, normalFromNormalmap.y); + return float3(normalXY.x, normalXY.y, math::sqrt(math::saturate(1.0 - math::dot(normalXY, normalXY)))); +} + +// Different implementation specific between mdl and hlsl for smoothstep +export float smoothstep(float a, float b, float l) +{ + if (a < b) + { + return math::smoothstep(a, b, l); + } + else if (a > b) + { + return 1.0 - math::smoothstep(b, a, l); + } + else + { + return l <= a ? 0.0 : 1.0; + } +} + +export float2 smoothstep(float2 a, float2 b, float2 l) +{ + return float2(smoothstep(a.x, b.x, l.x), smoothstep(a.y, b.y, l.y)); +} + +export float3 smoothstep(float3 a, float3 b, float3 l) +{ + return float3(smoothstep(a.x, b.x, l.x), smoothstep(a.y, b.y, l.y), smoothstep(a.z, b.z, l.z)); +} + +export float4 smoothstep(float4 a, float4 b, float4 l) +{ + return float4(smoothstep(a.x, b.x, l.x), smoothstep(a.y, b.y, l.y), smoothstep(a.z, b.z, l.z), smoothstep(a.w, b.w, l.w)); +} + +export float2 smoothstep(float2 a, float2 b, float l) +{ + return float2(smoothstep(a.x, b.x, l), smoothstep(a.y, b.y, l)); +} + +export float3 smoothstep(float3 a, float3 b, float l) +{ + return float3(smoothstep(a.x, b.x, l), smoothstep(a.y, b.y, l), smoothstep(a.z, b.z, l)); +} + +export float4 smoothstep(float4 a, float4 b, float l) +{ + return float4(smoothstep(a.x, b.x, l), smoothstep(a.y, b.y, l), smoothstep(a.z, b.z, l), smoothstep(a.w, b.w, l)); +} + +export float2 smoothstep(float a, float b, float2 l) +{ + return float2(smoothstep(a, b, l.x), smoothstep(a, b, l.y)); +} + +export float3 smoothstep(float a, float b, float3 l) +{ + return float3(smoothstep(a, b, l.x), smoothstep(a, b, l.y), smoothstep(a, b, l.z)); +} + +export float4 smoothstep(float a, float b, float4 l) +{ + return float4(smoothstep(a, b, l.x), smoothstep(a, b, l.y), smoothstep(a, b, l.z), smoothstep(a, b, l.w)); +} + +//------------------ Random from UE4 ----------------------- +float length2(float3 v) +{ + return math::dot(v, v); +} + +float3 GetPerlinNoiseGradientTextureAt(uniform texture_2d PerlinNoiseGradientTexture, float3 v) +{ + const float2 ZShear = float2(17.0f, 89.0f); + + float2 OffsetA = v.z * ZShear; + float2 TexA = (float2(v.x, v.y) + OffsetA + 0.5f) / 128.0f; + float4 PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexA.x,1.0-TexA.y),tex::wrap_repeat,tex::wrap_repeat); + return float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z) * 2.0 - 1.0; +} + +float3 SkewSimplex(float3 In) +{ + return In + math::dot(In, float3(1.0 / 3.0f) ); +} +float3 UnSkewSimplex(float3 In) +{ + return In - math::dot(In, float3(1.0 / 6.0f) ); +} + +// 3D random number generator inspired by PCGs (permuted congruential generator) +// Using a **simple** Feistel cipher in place of the usual xor shift permutation step +// @param v = 3D integer coordinate +// @return three elements w/ 16 random bits each (0-0xffff). +// ~8 ALU operations for result.x (7 mad, 1 >>) +// ~10 ALU operations for result.xy (8 mad, 2 >>) +// ~12 ALU operations for result.xyz (9 mad, 3 >>) + +//TODO: uint3 +int3 Rand3DPCG16(int3 p) +{ + // taking a signed int then reinterpreting as unsigned gives good behavior for negatives + //TODO: uint3 + int3 v = int3(p); + + // Linear congruential step. These LCG constants are from Numerical Recipies + // For additional #'s, PCG would do multiple LCG steps and scramble each on output + // So v here is the RNG state + v = v * 1664525 + 1013904223; + + // PCG uses xorshift for the final shuffle, but it is expensive (and cheap + // versions of xorshift have visible artifacts). Instead, use simple MAD Feistel steps + // + // Feistel ciphers divide the state into separate parts (usually by bits) + // then apply a series of permutation steps one part at a time. The permutations + // use a reversible operation (usually ^) to part being updated with the result of + // a permutation function on the other parts and the key. + // + // In this case, I'm using v.x, v.y and v.z as the parts, using + instead of ^ for + // the combination function, and just multiplying the other two parts (no key) for + // the permutation function. + // + // That gives a simple mad per round. + v.x += v.y*v.z; + v.y += v.z*v.x; + v.z += v.x*v.y; + v.x += v.y*v.z; + v.y += v.z*v.x; + v.z += v.x*v.y; + + // only top 16 bits are well shuffled + return v >> 16; +} + +// Wraps noise for tiling texture creation +// @param v = unwrapped texture parameter +// @param bTiling = true to tile, false to not tile +// @param RepeatSize = number of units before repeating +// @return either original or wrapped coord +float3 NoiseTileWrap(float3 v, bool bTiling, float RepeatSize) +{ + return bTiling ? (math::frac(v / RepeatSize) * RepeatSize) : v; +} + +// Evaluate polynomial to get smooth transitions for Perlin noise +// only needed by Perlin functions in this file +// scalar(per component): 2 add, 5 mul +float4 PerlinRamp(float4 t) +{ + return t * t * t * (t * (t * 6 - 15) + 10); +} + +// Blum-Blum-Shub-inspired pseudo random number generator +// http://www.umbc.edu/~olano/papers/mNoise.pdf +// real BBS uses ((s*s) mod M) with bignums and M as the product of two huge Blum primes +// instead, we use a single prime M just small enough not to overflow +// note that the above paper used 61, which fits in a half, but is unusably bad +// @param Integer valued floating point seed +// @return random number in range [0,1) +// ~8 ALU operations (5 *, 3 frac) +float RandBBSfloat(float seed) +{ + float BBS_PRIME24 = 4093.0; + float s = math::frac(seed / BBS_PRIME24); + s = math::frac(s * s * BBS_PRIME24); + s = math::frac(s * s * BBS_PRIME24); + return s; +} + +// Modified noise gradient term +// @param seed - random seed for integer lattice position +// @param offset - [-1,1] offset of evaluation point from lattice point +// @return gradient direction (xyz) and contribution (w) from this lattice point +float4 MGradient(int seed, float3 offset) +{ + //TODO uint + int rand = Rand3DPCG16(int3(seed,0,0)).x; + int3 MGradientMask = int3(0x8000, 0x4000, 0x2000); + float3 MGradientScale = float3(1.0 / 0x4000, 1.0 / 0x2000, 1.0 / 0x1000); + float3 direction = float3(int3(rand, rand, rand) & MGradientMask) * MGradientScale - 1; + return float4(direction.x, direction.y, direction.z, math::dot(direction, offset)); +} + +// compute Perlin and related noise corner seed values +// @param v = 3D noise argument, use float3(x,y,0) for 2D or float3(x,0,0) for 1D +// @param bTiling = true to return seed values for a repeating noise pattern +// @param RepeatSize = integer units before tiling in each dimension +// @param seed000-seed111 = hash function seeds for the eight corners +// @return fractional part of v +struct SeedValue +{ + float3 fv = float3(0); + float seed000 = 0; + float seed001 = 0; + float seed010 = 0; + float seed011 = 0; + float seed100 = 0; + float seed101 = 0; + float seed110 = 0; + float seed111 = 0; +}; + +SeedValue NoiseSeeds(float3 v, bool bTiling, float RepeatSize) +{ + SeedValue seeds; + seeds.fv = math::frac(v); + float3 iv = math::floor(v); + + const float3 primes = float3(19, 47, 101); + + if (bTiling) + { // can't algebraically combine with primes + seeds.seed000 = math::dot(primes, NoiseTileWrap(iv, true, RepeatSize)); + seeds.seed100 = math::dot(primes, NoiseTileWrap(iv + float3(1, 0, 0), true, RepeatSize)); + seeds.seed010 = math::dot(primes, NoiseTileWrap(iv + float3(0, 1, 0), true, RepeatSize)); + seeds.seed110 = math::dot(primes, NoiseTileWrap(iv + float3(1, 1, 0), true, RepeatSize)); + seeds.seed001 = math::dot(primes, NoiseTileWrap(iv + float3(0, 0, 1), true, RepeatSize)); + seeds.seed101 = math::dot(primes, NoiseTileWrap(iv + float3(1, 0, 1), true, RepeatSize)); + seeds.seed011 = math::dot(primes, NoiseTileWrap(iv + float3(0, 1, 1), true, RepeatSize)); + seeds.seed111 = math::dot(primes, NoiseTileWrap(iv + float3(1, 1, 1), true, RepeatSize)); + } + else + { // get to combine offsets with multiplication by primes in this case + seeds.seed000 = math::dot(iv, primes); + seeds.seed100 = seeds.seed000 + primes.x; + seeds.seed010 = seeds.seed000 + primes.y; + seeds.seed110 = seeds.seed100 + primes.y; + seeds.seed001 = seeds.seed000 + primes.z; + seeds.seed101 = seeds.seed100 + primes.z; + seeds.seed011 = seeds.seed010 + primes.z; + seeds.seed111 = seeds.seed110 + primes.z; + } + + return seeds; +} + +struct SimplexWeights +{ + float4 Result = float4(0); + float3 PosA = float3(0); + float3 PosB = float3(0); + float3 PosC = float3(0); + float3 PosD = float3(0); +}; + +// Computed weights and sample positions for simplex interpolation +// @return float4(a,b,c, d) Barycentric coordinate defined as Filtered = Tex(PosA) * a + Tex(PosB) * b + Tex(PosC) * c + Tex(PosD) * d +SimplexWeights ComputeSimplexWeights3D(float3 OrthogonalPos) +{ + SimplexWeights weights; + float3 OrthogonalPosFloor = math::floor(OrthogonalPos); + + weights.PosA = OrthogonalPosFloor; + weights.PosB = weights.PosA + float3(1, 1, 1); + + OrthogonalPos -= OrthogonalPosFloor; + + float Largest = math::max(OrthogonalPos.x, math::max(OrthogonalPos.y, OrthogonalPos.z)); + float Smallest = math::min(OrthogonalPos.x, math::min(OrthogonalPos.y, OrthogonalPos.z)); + + weights.PosC = weights.PosA + float3(Largest == OrthogonalPos.x, Largest == OrthogonalPos.y, Largest == OrthogonalPos.z); + weights.PosD = weights.PosA + float3(Smallest != OrthogonalPos.x, Smallest != OrthogonalPos.y, Smallest != OrthogonalPos.z); + + float RG = OrthogonalPos.x - OrthogonalPos.y; + float RB = OrthogonalPos.x - OrthogonalPos.z; + float GB = OrthogonalPos.y - OrthogonalPos.z; + + weights.Result.z = + math::min(math::max(0, RG), math::max(0, RB)) // X + + math::min(math::max(0, -RG), math::max(0, GB)) // Y + + math::min(math::max(0, -RB), math::max(0, -GB)); // Z + + weights.Result.w = + math::min(math::max(0, -RG), math::max(0, -RB)) // X + + math::min(math::max(0, RG), math::max(0, -GB)) // Y + + math::min(math::max(0, RB), math::max(0, GB)); // Z + + weights.Result.y = Smallest; + weights.Result.x = 1.0f - weights.Result.y - weights.Result.z - weights.Result.w; + + return weights; +} + +// filtered 3D gradient simple noise (few texture lookups, high quality) +// @param v >0 +// @return random number in the range -1 .. 1 +float SimplexNoise3D_TEX(uniform texture_2d PerlinNoiseGradientTexture, float3 EvalPos) +{ + float3 OrthogonalPos = SkewSimplex(EvalPos); + + SimplexWeights Weights = ComputeSimplexWeights3D(OrthogonalPos); + + // can be optimized to 1 or 2 texture lookups (4 or 8 channel encoded in 32 bit) + float3 A = GetPerlinNoiseGradientTextureAt(PerlinNoiseGradientTexture, Weights.PosA); + float3 B = GetPerlinNoiseGradientTextureAt(PerlinNoiseGradientTexture, Weights.PosB); + float3 C = GetPerlinNoiseGradientTextureAt(PerlinNoiseGradientTexture, Weights.PosC); + float3 D = GetPerlinNoiseGradientTextureAt(PerlinNoiseGradientTexture, Weights.PosD); + + Weights.PosA = UnSkewSimplex(Weights.PosA); + Weights.PosB = UnSkewSimplex(Weights.PosB); + Weights.PosC = UnSkewSimplex(Weights.PosC); + Weights.PosD = UnSkewSimplex(Weights.PosD); + + float DistanceWeight; + + DistanceWeight = math::saturate(0.6f - length2(EvalPos - Weights.PosA)); DistanceWeight *= DistanceWeight; DistanceWeight *= DistanceWeight; + float a = math::dot(A, EvalPos - Weights.PosA) * DistanceWeight; + DistanceWeight = math::saturate(0.6f - length2(EvalPos - Weights.PosB)); DistanceWeight *= DistanceWeight; DistanceWeight *= DistanceWeight; + float b = math::dot(B, EvalPos - Weights.PosB) * DistanceWeight; + DistanceWeight = math::saturate(0.6f - length2(EvalPos - Weights.PosC)); DistanceWeight *= DistanceWeight; DistanceWeight *= DistanceWeight; + float c = math::dot(C, EvalPos - Weights.PosC) * DistanceWeight; + DistanceWeight = math::saturate(0.6f - length2(EvalPos - Weights.PosD)); DistanceWeight *= DistanceWeight; DistanceWeight *= DistanceWeight; + float d = math::dot(D, EvalPos - Weights.PosD) * DistanceWeight; + + return 32 * (a + b + c + d); +} + +// filtered 3D noise, can be optimized +// @param v = 3D noise argument, use float3(x,y,0) for 2D or float3(x,0,0) for 1D +// @param bTiling = repeat noise pattern +// @param RepeatSize = integer units before tiling in each dimension +// @return random number in the range -1 .. 1 +float GradientNoise3D_TEX(uniform texture_2d PerlinNoiseGradientTexture, float3 v, bool bTiling, float RepeatSize) +{ + bTiling = true; + float3 fv = math::frac(v); + float3 iv0 = NoiseTileWrap(math::floor(v), bTiling, RepeatSize); + float3 iv1 = NoiseTileWrap(iv0 + 1, bTiling, RepeatSize); + + const int2 ZShear = int2(17, 89); + + float2 OffsetA = iv0.z * ZShear; + float2 OffsetB = OffsetA + ZShear; // non-tiling, use relative offset + if (bTiling) // tiling, have to compute from wrapped coordinates + { + OffsetB = iv1.z * ZShear; + } + + // Texture size scale factor + float ts = 1 / 128.0f; + + // texture coordinates for iv0.xy, as offset for both z slices + float2 TexA0 = (float2(iv0.x, iv0.y) + OffsetA + 0.5f) * ts; + float2 TexB0 = (float2(iv0.x, iv0.y) + OffsetB + 0.5f) * ts; + + // texture coordinates for iv1.xy, as offset for both z slices + float2 TexA1 = TexA0 + ts; // for non-tiling, can compute relative to existing coordinates + float2 TexB1 = TexB0 + ts; + if (bTiling) // for tiling, need to compute from wrapped coordinates + { + TexA1 = (float2(iv1.x, iv1.y) + OffsetA + 0.5f) * ts; + TexB1 = (float2(iv1.x, iv1.y) + OffsetB + 0.5f) * ts; + } + + + // can be optimized to 1 or 2 texture lookups (4 or 8 channel encoded in 8, 16 or 32 bit) + float4 PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexA0.x,1.0-TexA0.y),tex::wrap_repeat,tex::wrap_repeat); + float3 PerlinNoiseColor = float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z); + float3 A = PerlinNoiseColor * 2 - 1; + PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexA1.x,1.0-TexA0.y),tex::wrap_repeat,tex::wrap_repeat); + PerlinNoiseColor = float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z); + float3 B = PerlinNoiseColor * 2 - 1; + PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexA0.x,1.0-TexA1.y),tex::wrap_repeat,tex::wrap_repeat); + PerlinNoiseColor = float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z); + float3 C = PerlinNoiseColor * 2 - 1; + PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexA1.x,1.0-TexA1.y),tex::wrap_repeat,tex::wrap_repeat); + PerlinNoiseColor = float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z); + float3 D = PerlinNoiseColor * 2 - 1; + PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexB0.x,1.0-TexB0.y),tex::wrap_repeat,tex::wrap_repeat); + PerlinNoiseColor = float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z); + float3 E = PerlinNoiseColor * 2 - 1; + PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexB1.x,1.0-TexB0.y),tex::wrap_repeat,tex::wrap_repeat); + PerlinNoiseColor = float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z); + float3 F = PerlinNoiseColor * 2 - 1; + PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexB0.x,1.0-TexB1.y),tex::wrap_repeat,tex::wrap_repeat); + PerlinNoiseColor = float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z); + float3 G = PerlinNoiseColor * 2 - 1; + PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexB1.x,1.0-TexB1.y),tex::wrap_repeat,tex::wrap_repeat); + PerlinNoiseColor = float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z); + float3 H = PerlinNoiseColor * 2 - 1; + + float a = math::dot(A, fv - float3(0, 0, 0)); + float b = math::dot(B, fv - float3(1, 0, 0)); + float c = math::dot(C, fv - float3(0, 1, 0)); + float d = math::dot(D, fv - float3(1, 1, 0)); + float e = math::dot(E, fv - float3(0, 0, 1)); + float f = math::dot(F, fv - float3(1, 0, 1)); + float g = math::dot(G, fv - float3(0, 1, 1)); + float h = math::dot(H, fv - float3(1, 1, 1)); + + float4 Weights = PerlinRamp(math::frac(float4(fv.x, fv.y, fv.z, 0))); + + float i = math::lerp(math::lerp(a, b, Weights.x), math::lerp(c, d, Weights.x), Weights.y); + float j = math::lerp(math::lerp(e, f, Weights.x), math::lerp(g, h, Weights.x), Weights.y); + + return math::lerp(i, j, Weights.z); +} + +// @return random number in the range -1 .. 1 +// scalar: 6 frac, 31 mul/mad, 15 add, +float FastGradientPerlinNoise3D_TEX(uniform texture_3d PerlinNoise3DTexture, float3 xyz) +{ + // needs to be the same value when creating the PerlinNoise3D texture + float Extent = 16; + + // last texel replicated and needed for filtering + // scalar: 3 frac, 6 mul + xyz = math::frac(xyz / (Extent - 1)) * (Extent - 1); + + // scalar: 3 frac + float3 uvw = math::frac(xyz); + // = floor(xyz); + // scalar: 3 add + float3 p0 = xyz - uvw; +// float3 f = math::pow(uvw, 2) * 3.0f - math::pow(uvw, 3) * 2.0f; // original perlin hermite (ok when used without bump mapping) + // scalar: 2*3 add 5*3 mul + float4 pr = PerlinRamp(float4(uvw.x, uvw.y, uvw.z, 0)); + float3 f = float3(pr.x, pr.y, pr.z); // new, better with continues second derivative for bump mapping + // scalar: 3 add + float3 p = p0 + f; + // scalar: 3 mad + // TODO: need reverse??? + float4 NoiseSample = tex::lookup_float4(PerlinNoise3DTexture, p / Extent + 0.5f / Extent); // +0.5f to get rid of bilinear offset + + // reconstruct from 8bit (using mad with 2 constants and dot4 was same instruction count) + // scalar: 4 mad, 3 mul, 3 add + float3 n = float3(NoiseSample.x, NoiseSample.y, NoiseSample.z) * 255.0f / 127.0f - 1.0f; + float d = NoiseSample.w * 255.f - 127; + return math::dot(xyz, n) - d; +} + +// Perlin-style "Modified Noise" +// http://www.umbc.edu/~olano/papers/index.html#mNoise +// @param v = 3D noise argument, use float3(x,y,0) for 2D or float3(x,0,0) for 1D +// @param bTiling = repeat noise pattern +// @param RepeatSize = integer units before tiling in each dimension +// @return random number in the range -1 .. 1 +float GradientNoise3D_ALU(float3 v, bool bTiling, float RepeatSize) +{ + SeedValue seeds = NoiseSeeds(v, bTiling, RepeatSize); + + float rand000 = MGradient(int(seeds.seed000), seeds.fv - float3(0, 0, 0)).w; + float rand100 = MGradient(int(seeds.seed100), seeds.fv - float3(1, 0, 0)).w; + float rand010 = MGradient(int(seeds.seed010), seeds.fv - float3(0, 1, 0)).w; + float rand110 = MGradient(int(seeds.seed110), seeds.fv - float3(1, 1, 0)).w; + float rand001 = MGradient(int(seeds.seed001), seeds.fv - float3(0, 0, 1)).w; + float rand101 = MGradient(int(seeds.seed101), seeds.fv - float3(1, 0, 1)).w; + float rand011 = MGradient(int(seeds.seed011), seeds.fv - float3(0, 1, 1)).w; + float rand111 = MGradient(int(seeds.seed111), seeds.fv - float3(1, 1, 1)).w; + + float4 Weights = PerlinRamp(float4(seeds.fv.x, seeds.fv.y, seeds.fv.z, 0)); + + float i = math::lerp(math::lerp(rand000, rand100, Weights.x), math::lerp(rand010, rand110, Weights.x), Weights.y); + float j = math::lerp(math::lerp(rand001, rand101, Weights.x), math::lerp(rand011, rand111, Weights.x), Weights.y); + return math::lerp(i, j, Weights.z); +} + +// 3D value noise - used to be incorrectly called Perlin noise +// @param v = 3D noise argument, use float3(x,y,0) for 2D or float3(x,0,0) for 1D +// @param bTiling = repeat noise pattern +// @param RepeatSize = integer units before tiling in each dimension +// @return random number in the range -1 .. 1 +float ValueNoise3D_ALU(float3 v, bool bTiling, float RepeatSize) +{ + SeedValue seeds = NoiseSeeds(v, bTiling, RepeatSize); + + float rand000 = RandBBSfloat(seeds.seed000) * 2 - 1; + float rand100 = RandBBSfloat(seeds.seed100) * 2 - 1; + float rand010 = RandBBSfloat(seeds.seed010) * 2 - 1; + float rand110 = RandBBSfloat(seeds.seed110) * 2 - 1; + float rand001 = RandBBSfloat(seeds.seed001) * 2 - 1; + float rand101 = RandBBSfloat(seeds.seed101) * 2 - 1; + float rand011 = RandBBSfloat(seeds.seed011) * 2 - 1; + float rand111 = RandBBSfloat(seeds.seed111) * 2 - 1; + + float4 Weights = PerlinRamp(float4(seeds.fv.x, seeds.fv.y, seeds.fv.z, 0)); + + float i = math::lerp(math::lerp(rand000, rand100, Weights.x), math::lerp(rand010, rand110, Weights.x), Weights.y); + float j = math::lerp(math::lerp(rand001, rand101, Weights.x), math::lerp(rand011, rand111, Weights.x), Weights.y); + return math::lerp(i, j, Weights.z); +} + +// 3D jitter offset within a voronoi noise cell +// @param pos - integer lattice corner +// @return random offsets vector +float3 VoronoiCornerSample(float3 pos, int Quality) +{ + // random values in [-0.5, 0.5] + float3 noise = float3(Rand3DPCG16(int3(pos))) / 0xffff - 0.5; + + // quality level 1 or 2: searches a 2x2x2 neighborhood with points distributed on a sphere + // scale factor to guarantee jittered points will be found within a 2x2x2 search + if (Quality <= 2) + { + return math::normalize(noise) * 0.2588; + } + + // quality level 3: searches a 3x3x3 neighborhood with points distributed on a sphere + // scale factor to guarantee jittered points will be found within a 3x3x3 search + if (Quality == 3) + { + return math::normalize(noise) * 0.3090; + } + + // quality level 4: jitter to anywhere in the cell, needs 4x4x4 search + return noise; +} + +// compare previous best with a new candidate +// not producing point locations makes it easier for compiler to eliminate calculations when they're not needed +// @param minval = location and distance of best candidate seed point before the new one +// @param candidate = candidate seed point +// @param offset = 3D offset to new candidate seed point +// @param bDistanceOnly = if true, only set maxval.w with distance, otherwise maxval.w is distance and maxval.xyz is position +// @return position (if bDistanceOnly is false) and distance to closest seed point so far +float4 VoronoiCompare(float4 minval, float3 candidate, float3 offset, bool bDistanceOnly) +{ + if (bDistanceOnly) + { + return float4(0, 0, 0, math::min(minval.w, math::dot(offset, offset))); + } + else + { + float newdist = math::dot(offset, offset); + return newdist > minval.w ? minval : float4(candidate.x, candidate.y, candidate.z, newdist); + } +} + +// 220 instruction Worley noise +float4 VoronoiNoise3D_ALU(float3 v, int Quality, bool bTiling, float RepeatSize, bool bDistanceOnly) +{ + float3 fv = math::frac(v), fv2 = math::frac(v + 0.5); + float3 iv = math::floor(v), iv2 = math::floor(v + 0.5); + + // with initial minimum distance = infinity (or at least bigger than 4), first min is optimized away + float4 mindist = float4(0,0,0,100); + float3 p, offset; + + // quality level 3: do a 3x3x3 search + if (Quality == 3) + { + int offset_x; + int offset_y; + int offset_z; + for (offset_x = -1; offset_x <= 1; ++offset_x) + { + for (offset_y = -1; offset_y <= 1; ++offset_y) + { + for (offset_z = -1; offset_z <= 1; ++offset_z) + { + offset = float3(offset_x, offset_y, offset_z); + p = offset + VoronoiCornerSample(NoiseTileWrap(iv2 + offset, bTiling, RepeatSize), Quality); + mindist = VoronoiCompare(mindist, iv2 + p, fv2 - p, bDistanceOnly); + } + } + } + } + + // everybody else searches a base 2x2x2 neighborhood + else + { + int offset_x; + int offset_y; + int offset_z; + for (offset_x = 0; offset_x <= 1; ++offset_x) + { + for (offset_y = 0; offset_y <= 1; ++offset_y) + { + for (offset_z = 0; offset_z <= 1; ++offset_z) + { + offset = float3(offset_x, offset_y, offset_z); + p = offset + VoronoiCornerSample(NoiseTileWrap(iv + offset, bTiling, RepeatSize), Quality); + mindist = VoronoiCompare(mindist, iv + p, fv - p, bDistanceOnly); + + // quality level 2, do extra set of points, offset by half a cell + if (Quality == 2) + { + // 467 is just an offset to a different area in the random number field to avoid similar neighbor artifacts + p = offset + VoronoiCornerSample(NoiseTileWrap(iv2 + offset, bTiling, RepeatSize) + 467, Quality); + mindist = VoronoiCompare(mindist, iv2 + p, fv2 - p, bDistanceOnly); + } + } + } + } + } + + // quality level 4: add extra sets of four cells in each direction + if (Quality >= 4) + { + int offset_x; + int offset_y; + int offset_z; + for (offset_x = -1; offset_x <= 2; offset_x += 3) + { + for (offset_y = 0; offset_y <= 1; ++offset_y) + { + for (offset_z = 0; offset_z <= 1; ++offset_z) + { + offset = float3(offset_x, offset_y, offset_z); + // along x axis + p = offset + VoronoiCornerSample(NoiseTileWrap(iv + offset, bTiling, RepeatSize), Quality); + mindist = VoronoiCompare(mindist, iv + p, fv - p, bDistanceOnly); + + // along y axis + p = float3(offset.y, offset.z, offset.x) + VoronoiCornerSample(NoiseTileWrap(iv + float3(offset.y, offset.z, offset.x), bTiling, RepeatSize), Quality); + mindist = VoronoiCompare(mindist, iv + p, fv - p, bDistanceOnly); + + // along z axis + p = float3(offset.z, offset.x, offset.y) + VoronoiCornerSample(NoiseTileWrap(iv + float3(offset.z, offset.x, offset.y), bTiling, RepeatSize), Quality); + mindist = VoronoiCompare(mindist, iv + p, fv - p, bDistanceOnly); + } + } + } + } + + // transform squared distance to real distance + return float4(mindist.x, mindist.y, mindist.z, math::sqrt(mindist.w)); +} + +// Coordinates for corners of a Simplex tetrahedron +// Based on McEwan et al., Efficient computation of noise in GLSL, JGT 2011 +// @param v = 3D noise argument +// @return 4 corner locations +float4x3 SimplexCorners(float3 v) +{ + // find base corner by skewing to tetrahedral space and back + float3 tet = math::floor(v + v.x/3 + v.y/3 + v.z/3); + float3 base = tet - tet.x/6 - tet.y/6 - tet.z/6; + float3 f = v - base; + + // Find offsets to other corners (McEwan did this in tetrahedral space, + // but since skew is along x=y=z axis, this works in Euclidean space too.) + float3 g = math::step(float3(f.y,f.z,f.x), float3(f.x,f.y,f.z)), h = 1 - float3(g.z, g.x, g.y); + float3 a1 = math::min(g, h) - 1.0 / 6.0, a2 = math::max(g, h) - 1.0 / 3.0; + + // four corners + return float4x3(base, base + a1, base + a2, base + 0.5); +} + +// Improved smoothing function for simplex noise +// @param f = fractional distance to four tetrahedral corners +// @return weight for each corner +float4 SimplexSmooth(float4x3 f) +{ + const float scale = 1024. / 375.; // scale factor to make noise -1..1 + float4 d = float4(math::dot(f[0], f[0]), math::dot(f[1], f[1]), math::dot(f[2], f[2]), math::dot(f[3], f[3])); + float4 s = math::saturate(2 * d); + return (1 * scale + s*(-3 * scale + s*(3 * scale - s*scale))); +} + +// Derivative of simplex noise smoothing function +// @param f = fractional distanc eto four tetrahedral corners +// @return derivative of smoothing function for each corner by x, y and z +float3x4 SimplexDSmooth(float4x3 f) +{ + const float scale = 1024. / 375.; // scale factor to make noise -1..1 + float4 d = float4(math::dot(f[0], f[0]), math::dot(f[1], f[1]), math::dot(f[2], f[2]), math::dot(f[3], f[3])); + float4 s = math::saturate(2 * d); + s = -12 * scale + s*(24 * scale - s * 12 * scale); + + return float3x4( + s * float4(f[0][0], f[1][0], f[2][0], f[3][0]), + s * float4(f[0][1], f[1][1], f[2][1], f[3][1]), + s * float4(f[0][2], f[1][2], f[2][2], f[3][2])); +} + +// Simplex noise and its Jacobian derivative +// @param v = 3D noise argument +// @param bTiling = whether to repeat noise pattern +// @param RepeatSize = integer units before tiling in each dimension, must be a multiple of 3 +// @return float3x3 Jacobian in J[*].xyz, vector noise in J[*].w +// J[0].w, J[1].w, J[2].w is a Perlin-style simplex noise with vector output, e.g. (Nx, Ny, Nz) +// J[i].x is X derivative of the i'th component of the noise so J[2].x is dNz/dx +// You can use this to compute the noise, gradient, curl, or divergence: +// float3x4 J = JacobianSimplex_ALU(...); +// float3 VNoise = float3(J[0].w, J[1].w, J[2].w); // 3D noise +// float3 Grad = J[0].xyz; // gradient of J[0].w +// float3 Curl = float3(J[1][2]-J[2][1], J[2][0]-J[0][2], J[0][1]-J[1][2]); +// float Div = J[0][0]+J[1][1]+J[2][2]; +// All of these are confirmed to compile out all unneeded terms. +// So Grad of X doesn't compute Y or Z components, and VNoise doesn't do any of the derivative computation. +float3x4 JacobianSimplex_ALU(float3 v, bool bTiling, float RepeatSize) +{ + int3 MGradientMask = int3(0x8000, 0x4000, 0x2000); + float3 MGradientScale = float3(1. / 0x4000, 1. / 0x2000, 1. / 0x1000); + + // corners of tetrahedron + float4x3 T = SimplexCorners(v); + // TODO: uint3 + int3 rand = int3(0); + float4x3 gvec0 = float4x3(1.0); + float4x3 gvec1 = float4x3(1.0); + float4x3 gvec2 = float4x3(1.0); + float4x3 fv = float4x3(1.0); + float3x4 grad = float3x4(1.0); + + // processing of tetrahedral vertices, unrolled + // to compute gradient at each corner + fv[0] = v - T[0]; + rand = Rand3DPCG16(int3(math::floor(NoiseTileWrap(6 * T[0] + 0.5, bTiling, RepeatSize)))); + gvec0[0] = float3(int3(rand.x,rand.x,rand.x) & MGradientMask) * MGradientScale - 1; + gvec1[0] = float3(int3(rand.y,rand.y,rand.y) & MGradientMask) * MGradientScale - 1; + gvec2[0] = float3(int3(rand.z,rand.z,rand.z) & MGradientMask) * MGradientScale - 1; + grad[0][0] = math::dot(gvec0[0], fv[0]); + grad[1][0] = math::dot(gvec1[0], fv[0]); + grad[2][0] = math::dot(gvec2[0], fv[0]); + + fv[1] = v - T[1]; + rand = Rand3DPCG16(int3(math::floor(NoiseTileWrap(6 * T[1] + 0.5, bTiling, RepeatSize)))); + gvec0[1] = float3(int3(rand.x,rand.x,rand.x) & MGradientMask) * MGradientScale - 1; + gvec1[1] = float3(int3(rand.y,rand.y,rand.y) & MGradientMask) * MGradientScale - 1; + gvec1[1] = float3(int3(rand.z,rand.z,rand.z) & MGradientMask) * MGradientScale - 1; + grad[0][1] = math::dot(gvec0[1], fv[1]); + grad[1][1] = math::dot(gvec1[1], fv[1]); + grad[2][1] = math::dot(gvec2[1], fv[1]); + + fv[2] = v - T[2]; + rand = Rand3DPCG16(int3(math::floor(NoiseTileWrap(6 * T[2] + 0.5, bTiling, RepeatSize)))); + gvec0[2] = float3(int3(rand.x,rand.x,rand.x) & MGradientMask) * MGradientScale - 1; + gvec1[2] = float3(int3(rand.y,rand.y,rand.y) & MGradientMask) * MGradientScale - 1; + gvec2[2] = float3(int3(rand.z,rand.z,rand.z) & MGradientMask) * MGradientScale - 1; + grad[0][2] = math::dot(gvec0[2], fv[2]); + grad[1][2] = math::dot(gvec1[2], fv[2]); + grad[2][2] = math::dot(gvec2[2], fv[2]); + + fv[3] = v - T[3]; + rand = Rand3DPCG16(int3(math::floor(NoiseTileWrap(6 * T[3] + 0.5, bTiling, RepeatSize)))); + gvec0[3] = float3(int3(rand.x,rand.x,rand.x) & MGradientMask) * MGradientScale - 1; + gvec1[3] = float3(int3(rand.y,rand.y,rand.y) & MGradientMask) * MGradientScale - 1; + gvec2[3] = float3(int3(rand.z,rand.z,rand.z) & MGradientMask) * MGradientScale - 1; + grad[0][3] = math::dot(gvec0[3], fv[3]); + grad[1][3] = math::dot(gvec1[3], fv[3]); + grad[2][3] = math::dot(gvec2[3], fv[3]); + + // blend gradients + float4 sv = SimplexSmooth(fv); + float3x4 ds = SimplexDSmooth(fv); + + float3x4 jacobian = float3x4(1.0); + float3 vec0 = gvec0*sv + grad[0]*ds; // NOTE: mdl is column major, convert from UE4 (row major) + jacobian[0] = float4(vec0.x, vec0.y, vec0.z, math::dot(sv, grad[0])); + float3 vec1 = gvec1*sv + grad[1]*ds; + jacobian[1] = float4(vec1.x, vec1.y, vec1.z, math::dot(sv, grad[1])); + float3 vec2 = gvec2*sv + grad[2]*ds; + jacobian[2] = float4(vec2.x, vec2.y, vec2.z, math::dot(sv, grad[2])); + + return jacobian; +} + +// While RepeatSize is a float here, the expectation is that it would be largely integer values coming in from the UI. The downstream logic assumes +// floats for all called functions (NoiseTileWrap) and this prevents any float-to-int conversion errors from automatic type conversion. +float Noise3D_Multiplexer(uniform texture_2d PerlinNoiseGradientTexture, uniform texture_3d PerlinNoise3DTexture, int Function, float3 Position, int Quality, bool bTiling, float RepeatSize) +{ + // verified, HLSL compiled out the switch if Function is a constant + switch(Function) + { + case 0: + return SimplexNoise3D_TEX(PerlinNoiseGradientTexture, Position); + case 1: + return GradientNoise3D_TEX(PerlinNoiseGradientTexture, Position, bTiling, RepeatSize); + case 2: + return FastGradientPerlinNoise3D_TEX(PerlinNoise3DTexture, Position); + case 3: + return GradientNoise3D_ALU(Position, bTiling, RepeatSize); + case 4: + return ValueNoise3D_ALU(Position, bTiling, RepeatSize); + case 5: + return VoronoiNoise3D_ALU(Position, Quality, bTiling, RepeatSize, true).w * 2.0 - 1.0; + } + return 0; +} +//---------------------------------------------------------- + +export float noise(uniform texture_2d PerlinNoiseGradientTexture, uniform texture_3d PerlinNoise3DTexture, float3 Position, float Scale, float Quality, float Function, float Turbulence, float Levels, float OutputMin, float OutputMax, float LevelScale, float FilterWidth, float Tiling, float RepeatSize) +[[ + anno::description("Noise"), + anno::noinline() +]] +{ + Position *= Scale; + FilterWidth *= Scale; + + float Out = 0.0f; + float OutScale = 1.0f; + float InvLevelScale = 1.0f / LevelScale; + + int iFunction(Function); + int iQuality(Quality); + int iLevels(Levels); + bool bTurbulence(Turbulence); + bool bTiling(Tiling); + + for(int i = 0; i < iLevels; ++i) + { + // fade out noise level that are too high frequent (not done through dynamic branching as it usually requires gradient instructions) + OutScale *= math::saturate(1.0 - FilterWidth); + + if(bTurbulence) + { + Out += math::abs(Noise3D_Multiplexer(PerlinNoiseGradientTexture, PerlinNoise3DTexture, iFunction, Position, iQuality, bTiling, RepeatSize)) * OutScale; + } + else + { + Out += Noise3D_Multiplexer(PerlinNoiseGradientTexture, PerlinNoise3DTexture, iFunction, Position, iQuality, bTiling, RepeatSize) * OutScale; + } + + Position *= LevelScale; + RepeatSize *= LevelScale; + OutScale *= InvLevelScale; + FilterWidth *= LevelScale; + } + + if(!bTurbulence) + { + // bring -1..1 to 0..1 range + Out = Out * 0.5f + 0.5f; + } + + // Out is in 0..1 range + return math::lerp(OutputMin, OutputMax, Out); +} + +// Material node for noise functions returning a vector value +// @param LevelScale usually 2 but higher values allow efficient use of few levels +// @return in user defined range (OutputMin..OutputMax) +export float4 vector4_noise(float3 Position, float Quality, float Function, float Tiling, float TileSize) +[[ + anno::description("Vector Noise"), + anno::noinline() +]] +{ + float4 result = float4(0,0,0,1); + float3 ret = float3(0); + int iQuality = int(Quality); + int iFunction = int(Function); + bool bTiling = Tiling > 0.0; + + float3x4 Jacobian = JacobianSimplex_ALU(Position, bTiling, TileSize); // compiled out if not used + + // verified, HLSL compiled out the switch if Function is a constant + switch (iFunction) + { + case 0: // Cellnoise + ret = float3(Rand3DPCG16(int3(math::floor(NoiseTileWrap(Position, bTiling, TileSize))))) / 0xffff; + result = float4(ret.x, ret.y, ret.z, 1); + break; + case 1: // Color noise + ret = float3(Jacobian[0].w, Jacobian[1].w, Jacobian[2].w); + result = float4(ret.x, ret.y, ret.z, 1); + break; + case 2: // Gradient + result = Jacobian[0]; + break; + case 3: // Curl + ret = float3(Jacobian[2][1] - Jacobian[1][2], Jacobian[0][2] - Jacobian[2][0], Jacobian[1][0] - Jacobian[0][1]); + result = float4(ret.x, ret.y, ret.z, 1); + break; + case 4: // Voronoi + result = VoronoiNoise3D_ALU(Position, iQuality, bTiling, TileSize, false); + break; + } + return result; +} + +export float3 vector3_noise(float3 Position, float Quality, float Function, float Tiling, float TileSize) +[[ + anno::description("Vector Noise float3 version"), + anno::noinline() +]] +{ + float4 noise = vector4_noise(Position, Quality, Function, Tiling, TileSize); + return float3(noise.x, noise.y, noise.z); +} + + +// workaround for ue4 fresnel (without supporting for camera vector) : replacing it with 0.0, means facing to the view +export float fresnel(float exponent [[anno::unused()]], float base_reflect_fraction [[anno::unused()]], float3 normal [[anno::unused()]]) +[[ + anno::description("Fresnel"), + anno::noinline() +]] +{ + return 0.0; +} + +export float fresnel_function(float3 normal_vector [[anno::unused()]], float3 camera_vector [[anno::unused()]], + bool invert_fresnel [[anno::unused()]], float power [[anno::unused()]], + bool use_cheap_contrast [[anno::unused()]], float cheap_contrast_dark [[anno::unused()]], float cheap_contrast_bright [[anno::unused()]], + bool clamp_fresnel_dot_product [[anno::unused()]]) +[[ + anno::description("Fresnel Function"), + anno::noinline() +]] +{ + return 0.0; +} + +export float3 camera_vector(uniform bool up_z = true) +[[ + anno::description("Camera Vector"), + anno::noinline() +]] +{ + // assume camera postion is 0,0,0 + return math::normalize(float3(0) - convert_to_left_hand(state::transform_point(state::coordinate_internal,state::coordinate_world,state::position()), up_z)); +} + +export float pixel_depth() +[[ + anno::description("Pixel Depth"), + anno::noinline() +]] +{ + return 256.0f; +} + +export float scene_depth() +[[ + anno::description("Scene Depth") +]] +{ + return 65500.0f; +} + +export float3 scene_color() +[[ + anno::description("Scene Color") +]] +{ + return float3(1.0f); +} + +export float4 vertex_color() +[[ + anno::description("Vertex Color"), + anno::noinline() +]] +{ + return float4(1.0f); +} + +export float4 vertex_color_from_coordinate(int VertexColorCoordinateIndex) +[[ + anno::description("Vertex Color for float2 PrimVar"), + anno::noinline() +]] +{ + // Kit only supports 4 uv sets, 2 uvs are available to vertex color. if vertex color index is invalid, output the constant WHITE color intead + return (VertexColorCoordinateIndex > 2) ? float4(1.0f) : float4(state::texture_coordinate(VertexColorCoordinateIndex).x, state::texture_coordinate(VertexColorCoordinateIndex).y, state::texture_coordinate(VertexColorCoordinateIndex+1).x, state::texture_coordinate(VertexColorCoordinateIndex+1).y); +} + +export float3 camera_position() +[[ + anno::description("Camera Position"), + anno::noinline() +]] +{ + return float3(1000.0f, 0, 0); +} + +export float3 rotate_about_axis(float4 NormalizedRotationAxisAndAngle, float3 PositionOnAxis, float3 Position) +[[ + anno::description("Rotates Position about the given axis by the given angle") +]] +{ + // Project Position onto the rotation axis and find the closest point on the axis to Position + float3 NormalizedRotationAxis = float3(NormalizedRotationAxisAndAngle.x,NormalizedRotationAxisAndAngle.y,NormalizedRotationAxisAndAngle.z); + float3 ClosestPointOnAxis = PositionOnAxis + NormalizedRotationAxis * math::dot(NormalizedRotationAxis, Position - PositionOnAxis); + // Construct orthogonal axes in the plane of the rotation + float3 UAxis = Position - ClosestPointOnAxis; + float3 VAxis = math::cross(NormalizedRotationAxis, UAxis); + float[2] SinCosAngle = math::sincos(NormalizedRotationAxisAndAngle.w); + // Rotate using the orthogonal axes + float3 R = UAxis * SinCosAngle[1] + VAxis * SinCosAngle[0]; + // Reconstruct the rotated world space position + float3 RotatedPosition = ClosestPointOnAxis + R; + // Convert from position to a position offset + return RotatedPosition - Position; +} + +export float2 rotate_scale_offset_texcoords(float2 InTexCoords, float4 InRotationScale, float2 InOffset) +[[ + anno::description("Returns a float2 texture coordinate after 2x2 transform and offset applied") +]] +{ + return float2(math::dot(InTexCoords, float2(InRotationScale.x, InRotationScale.y)), math::dot(InTexCoords, float2(InRotationScale.z, InRotationScale.w))) + InOffset; +} + +export float3 reflection_custom_world_normal(float3 WorldNormal, bool bNormalizeInputNormal, uniform bool up_z = true) +[[ + anno::description("Reflection vector about the specified world space normal") +]] +{ + if (bNormalizeInputNormal) + { + WorldNormal = math::normalize(WorldNormal); + } + + return -camera_vector(up_z) + WorldNormal * math::dot(WorldNormal, camera_vector(up_z)) * 2.0; +} + +export float3 reflection_vector(uniform bool up_z = true) +[[ + anno::description("Reflection Vector"), + anno::noinline() +]] +{ + float3 normal = convert_to_left_hand(state::transform_normal(state::coordinate_internal,state::coordinate_world,state::normal()), up_z, false); + return reflection_custom_world_normal(normal, false, up_z); +} + +export float dither_temporalAA(float AlphaThreshold = 0.5f, float Random = 1.0f [[anno::unused()]]) +[[ + anno::description("Dither TemporalAA"), + anno::noinline() +]] +{ + return AlphaThreshold; +} + +export float3 black_body( float Temp ) +[[ + anno::description("Black Body"), + anno::noinline() +]] +{ + float u = ( 0.860117757f + 1.54118254e-4f * Temp + 1.28641212e-7f * Temp*Temp ) / ( 1.0f + 8.42420235e-4f * Temp + 7.08145163e-7f * Temp*Temp ); + float v = ( 0.317398726f + 4.22806245e-5f * Temp + 4.20481691e-8f * Temp*Temp ) / ( 1.0f - 2.89741816e-5f * Temp + 1.61456053e-7f * Temp*Temp ); + + float x = 3*u / ( 2*u - 8*v + 4 ); + float y = 2*v / ( 2*u - 8*v + 4 ); + float z = 1 - x - y; + + float Y = 1; + float X = Y/y * x; + float Z = Y/y * z; + + float3x3 XYZtoRGB = float3x3( + float3(3.2404542, -1.5371385, -0.4985314), + float3(-0.9692660, 1.8760108, 0.0415560), + float3(0.0556434, -0.2040259, 1.0572252) + ); + + return XYZtoRGB * float3( X, Y, Z ) * math::pow( 0.0004 * Temp, 4 ); +} + +export float per_instance_random(uniform texture_2d PerlinNoiseGradientTexture, int NumberInstances) +[[ + anno::description("Per Instance Random"), + anno::noinline() +]] +{ + float weight = state::object_id() / float(NumberInstances); + return NumberInstances == 0 ? 0.0 : tex::lookup_float4(PerlinNoiseGradientTexture, float2(weight, 1.0 - weight), tex::wrap_repeat, tex::wrap_repeat).x; +} + +//------------------ Hair from UE4 ----------------------- +float3 hair_absorption_to_color(float3 A) +{ + const float B = 0.3f; + float b2 = B * B; + float b3 = B * b2; + float b4 = b2 * b2; + float b5 = B * b4; + float D = (5.969f - 0.215f * B + 2.532f * b2 - 10.73f * b3 + 5.574f * b4 + 0.245f * b5); + return math::exp(-math::sqrt(A) * D); +} + +float3 hair_color_to_absorption(float3 C) +{ + const float B = 0.3f; + float b2 = B * B; + float b3 = B * b2; + float b4 = b2 * b2; + float b5 = B * b4; + float D = (5.969f - 0.215f * B + 2.532f * b2 - 10.73f * b3 + 5.574f * b4 + 0.245f * b5); + return math::pow(math::log(C) / D, 2.0f); +} + +export float3 get_hair_color_from_melanin(float InMelanin, float InRedness, float3 InDyeColor) +[[ + anno::description("Hair Color") +]] +{ + InMelanin = math::saturate(InMelanin); + InRedness = math::saturate(InRedness); + float Melanin = -math::log(math::max(1 - InMelanin, 0.0001f)); + float Eumelanin = Melanin * (1 - InRedness); + float Pheomelanin = Melanin * InRedness; + + float3 DyeAbsorption = hair_color_to_absorption(math::saturate(InDyeColor)); + float3 Absorption = Eumelanin * float3(0.506f, 0.841f, 1.653f) + Pheomelanin * float3(0.343f, 0.733f, 1.924f); + + return hair_absorption_to_color(Absorption + DyeAbsorption); +} + +export float3 local_object_bounds_min() +[[ + anno::description("Local Object Bounds Min"), + anno::noinline() +]] +{ + return float3(0.0); +} + +export float3 local_object_bounds_max() +[[ + anno::description("Local Object Bounds Max"), + anno::noinline() +]] +{ + return float3(100.0); +} + +export float3 object_bounds() +[[ + anno::description("Object Bounds"), + anno::noinline() +]] +{ + return float3(100.0); +} + +export float object_radius() +[[ + anno::description("Object Radius"), + anno::noinline() +]] +{ + return 100.0f; +} + +export float3 object_world_position(uniform bool up_z = true) +[[ + anno::description("Object World Position"), + anno::noinline() +]] +{ + return convert_to_left_hand(state::transform_point(state::coordinate_internal,state::coordinate_world,state::position()), up_z)*state::meters_per_scene_unit()*100.0; +} + +export float3 object_orientation() +[[ + anno::description("Object Orientation"), + anno::noinline() +]] +{ + return float3(0); +} + +export float rcp(float x) +[[ + anno::description("hlsl rcp"), + anno::noinline() +]] +{ + return 1.0f / x; +} + +export float2 rcp(float2 x) +[[ + anno::description("hlsl rcp"), + anno::noinline() +]] +{ + return 1.0f / x; +} + +export float3 rcp(float3 x) +[[ + anno::description("hlsl rcp"), + anno::noinline() +]] +{ + return 1.0f / x; +} + +export float4 rcp(float4 x) +[[ + anno::description("hlsl rcp"), + anno::noinline() +]] +{ + return 1.0f / x; +} + +export int BitFieldExtractI32(int Data, int Size, int Offset) +[[ + anno::description("BitFieldExtractI32 int"), + anno::noinline() +]] +{ + Size &= 3; + Offset &= 3; + + if (Size == 0) + return 0; + else if (Offset + Size < 32) + return (Data << (32 - Size - Offset)) >> (32 - Size); + else + return Data >> Offset; +} + +export int BitFieldExtractI32(float Data, float Size, float Offset) +[[ + anno::description("BitFieldExtractI32 float"), + anno::noinline() +]] +{ + return BitFieldExtractI32(int(Data), int(Size), int(Offset)); +} + +export int BitFieldExtractU32(float Data, float Size, float Offset) +[[ + anno::description("BitFieldExtractU32 float"), + anno::noinline() +]] +{ + return BitFieldExtractI32(Data, Size, Offset); +} + +export int BitFieldExtractU32(int Data, int Size, int Offset) +[[ + anno::description("BitFieldExtractU32 int"), + anno::noinline() +]] +{ + return BitFieldExtractI32(Data, Size, Offset); +} + +export float3 EyeAdaptationInverseLookup(float3 LightValue, float Alpha) +[[ + anno::description("EyeAdaptationInverseLookup"), + anno::noinline() +]] +{ + float Adaptation = 1.0f; + + // When Alpha=0.0, we want to multiply by 1.0. when Alpha = 1.0, we want to multiply by 1/Adaptation. + // So the lerped value is: + // LerpLogScale = Lerp(log(1),log(1/Adaptaiton),T) + // Which is simplified as: + // LerpLogScale = Lerp(0,-log(Adaptation),T) + // LerpLogScale = -T * logAdaptation; + + float LerpLogScale = -Alpha * math::log(Adaptation); + float Scale = math::exp(LerpLogScale); + return LightValue * Scale; +} diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/OmniUe4Translucent.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/OmniUe4Translucent.mdl new file mode 100644 index 0000000000000000000000000000000000000000..483a83004b8f7d5bf820a7905d06ea2d7d5894af --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/OmniUe4Translucent.mdl @@ -0,0 +1,233 @@ +/*************************************************************************************************** + * Copyright 2020 NVIDIA Corporation. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + **************************************************************************************************/ + +//* 1.0.0 - first version +//* 1.0.1 - Emissive color affected by opacity +// - Support opacity mask +//* 1.0.2 - Unlit translucent +//* 1.0.3 - specular bsdf instead of microfacet ggx smith bsdf +//* 1.0.4 - using absolute import paths when importing standard modules + +mdl 1.3; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::tex::*; +import ::anno::*; + +float emissive_multiplier() +[[ + anno::description("the multiplier to convert UE4 emissive to raw data"), + anno::noinline() +]] +{ + return 20.0f * 128.0f; +} + +color get_translucent_tint(color base_color, float opacity) +[[ + anno::description("base color of UE4 translucent"), + anno::noinline() +]] +{ + return math::lerp(color(1.0), base_color, opacity); +} + +// Just for UE4 distilling +float get_translucent_opacity(float opacity) +[[ + anno::noinline() +]] +{ + return opacity; +} + +color get_emissive_intensity(color emissive, float opacity) +[[ + anno::description("emissive color of UE4 translucent"), + anno::noinline() +]] +{ + return emissive * opacity; +} + +float3 tangent_space_normal( + float3 normal = float3(0.0,0.0,1.0), + float3 tangent_u = state::texture_tangent_u(0), + float3 tangent_v = state::texture_tangent_v(0) +) +[[ + anno::description("Interprets the vector in tangent space"), + anno::noinline() +]] +{ + return math::normalize( + tangent_u * normal.x - + tangent_v * normal.y + /* flip_tangent_v */ + state::normal() * (normal.z)); +} + +float3 world_space_normal( + float3 normal = float3(0.0,0.0,1.0), + float3 tangent_u = state::texture_tangent_u(0), + float3 tangent_v = state::texture_tangent_v(0) +) +[[ + anno::description("Interprets the vector in world space"), + anno::noinline() +]] +{ + return tangent_space_normal( + math::normalize( + normal.x * float3(tangent_u.x, tangent_v.x, state::normal().x) - + normal.y * float3(tangent_u.y, tangent_v.y, state::normal().y) + + normal.z * float3(tangent_u.z, tangent_v.z, state::normal().z)), + tangent_u, + tangent_v + ); +} + +export material OmniUe4Translucent( + float3 base_color = float3(0.0, 0.0, 0.0), + float metallic = 0.0, + float roughness = 0.5, + float specular = 0.5, + float3 normal = float3(0.0,0.0,1.0), + uniform bool enable_opacity = true, + float opacity = 1.0, + float opacity_mask = 1.0, + float3 emissive_color = float3(0.0, 0.0, 0.0), + float3 displacement = float3(0.0), + uniform float refraction = 1.0, + uniform bool two_sided = false, + uniform bool is_tangent_space_normal = true, + uniform bool is_unlit = false +) +[[ + anno::display_name("Omni UE4 Translucent"), + anno::description("Omni UE4 Translucent, supports UE4 Translucent shading model"), + anno::version( 1, 0, 0), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "UE4", "omniverse", "translucent")) +]] + = let { + color final_base_color = math::saturate(base_color); + float final_metallic = math::min(math::max(metallic, 0.0f), 0.99f); + float final_roughness = math::saturate(roughness); + float final_specular = math::saturate(specular); + color final_emissive_color = math::max(emissive_color, 0.0f) * emissive_multiplier(); /*factor for converting ue4 emissive to raw value*/ + float final_opacity = math::saturate(opacity); + float3 final_normal = math::normalize(normal); + + + // - compute final roughness by squaring the "roughness" parameter + float alpha = final_roughness * final_roughness; + // reduce the reflectivity at grazing angles to avoid "dark edges" for high roughness due to the layering + float grazing_refl = math::max((1.0 - final_roughness), 0.0); + + float3 the_normal = is_unlit ? state::normal() : + (is_tangent_space_normal ? + tangent_space_normal( + normal: final_normal, + tangent_u: state::texture_tangent_u(0), + tangent_v: state::texture_tangent_v(0) + ) : world_space_normal( + normal: final_normal, + tangent_u: state::texture_tangent_u(0), + tangent_v: state::texture_tangent_v(0) + )); + + // for the dielectric component we layer the glossy component on top of the diffuse one, + // the glossy layer has no color tint + + bsdf dielectric_component = df::custom_curve_layer( + weight: final_specular, + normal_reflectivity: 0.08, + grazing_reflectivity: grazing_refl, + layer: df::microfacet_ggx_smith_bsdf(roughness_u: alpha), + base: df::diffuse_reflection_bsdf(tint: final_base_color)); + + // the metallic component doesn't have a diffuse component, it's only glossy + // base_color is applied to tint it + bsdf metallic_component = df::microfacet_ggx_smith_bsdf(tint: final_base_color, roughness_u: alpha); + + // final BSDF is a linear blend between dielectric and metallic component + bsdf dielectric_metal_mix = + df::normalized_mix( + components: + df::bsdf_component[]( + df::bsdf_component( + component: metallic_component, + weight: final_metallic), + df::bsdf_component( + component: dielectric_component, + weight: 1.0-final_metallic) + ) + ); + + bsdf frosted_bsdf = df::specular_bsdf( + tint: color(1), + mode: df::scatter_reflect_transmit + ); + + bsdf final_mix_bsdf = + is_unlit ? df::specular_bsdf( + tint: get_translucent_tint(base_color: final_base_color, opacity: final_opacity), + mode: df::scatter_reflect_transmit + ) + : df::normalized_mix( + components: + df::bsdf_component[]( + df::bsdf_component( + component: dielectric_metal_mix, + weight: get_translucent_opacity(final_opacity)), + df::bsdf_component( + component: frosted_bsdf, + weight: 1.0-get_translucent_opacity(final_opacity)) + ) + ); +} +in material( + thin_walled: two_sided, // Graphene? + ior: color(refraction), //refraction + surface: material_surface( + scattering: final_mix_bsdf, + emission: + material_emission ( + emission: df::diffuse_edf (), + intensity: get_emissive_intensity(emissive: final_emissive_color, opacity: final_opacity) + ) + ), + + geometry: material_geometry( + displacement: displacement, + normal: the_normal, + cutout_opacity: enable_opacity ? opacity_mask : 1.0 + ) +); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/WorldGridMaterial.mdl b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/WorldGridMaterial.mdl new file mode 100644 index 0000000000000000000000000000000000000000..8040029cab1073713e0c535664dd57ed7f6b5522 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/materials/WorldGridMaterial.mdl @@ -0,0 +1,75 @@ +mdl 1.6; + +import ::math::*; +import ::state::*; +import ::tex::*; +import ::anno::*; +using OmniUe4Function import *; +using OmniUe4Base import *; + +export annotation sampler_color(); +export annotation sampler_normal(); +export annotation sampler_grayscale(); +export annotation sampler_alpha(); +export annotation sampler_masks(); +export annotation sampler_distancefield(); +export annotation dither_masked_off(); +export annotation world_space_normal(); + +export material WorldGridMaterial( + int MaxTexCoordIndex = 3 + [[ + anno::hidden() + ]]) + = + let { + float3 WorldPositionOffset_mdl = float3(0.0,0.0,0.0); + float2 CustomizedUV0_mdl = float2(state::texture_coordinate(math::min(0,MaxTexCoordIndex)).x,1.0-state::texture_coordinate(math::min(0,MaxTexCoordIndex)).y); + + float2 Local0 = (CustomizedUV0_mdl / 2.0); + float2 Local1 = (Local0 / 0.05); + float4 Local2 = ::unpack_normal_map(tex::lookup_float4(texture_2d("../textures/T_Default_Material_Grid_N.png",::tex::gamma_linear),float2(Local1.x,1.0-Local1.y),tex::wrap_repeat,tex::wrap_repeat)); + float3 Local3 = (float3(Local2.x,Local2.y,Local2.z) * float3(0.3,0.3,1.0)); + + float3 Normal_mdl = Local3; + + float2 Local4 = (CustomizedUV0_mdl * 20.0); + float4 Local5 = tex::lookup_float4(texture_2d("../textures/T_Default_Material_Grid_M.png",::tex::gamma_linear),float2(Local4.x,1.0-Local4.y),tex::wrap_repeat,tex::wrap_repeat); + float Local6 = math::lerp(0.4,1.0,Local5.x); + float Local7 = (1.0 - Local6); + float2 Local8 = (Local0 / 0.1); + float4 Local9 = tex::lookup_float4(texture_2d("../textures/T_Default_Material_Grid_M.png",::tex::gamma_linear),float2(Local8.x,1.0-Local8.y),tex::wrap_repeat,tex::wrap_repeat); + float Local10 = math::lerp(Local9.y,1.0,0.0); + float Local11 = math::lerp(Local6,Local7,Local10); + float4 Local12 = tex::lookup_float4(texture_2d("../textures/T_Default_Material_Grid_M.png",::tex::gamma_linear),float2(Local0.x,1.0-Local0.y),tex::wrap_repeat,tex::wrap_repeat); + float Local13 = math::lerp(Local9.y,0.0,0.0); + float Local14 = (Local12.y + Local13); + float Local15 = math::lerp(Local14,0.5,0.5); + float Local16 = math::lerp(0.295,0.66,Local15); + float Local17 = (Local16 * 0.5); + float Local18 = (Local11 * Local17); + float Local19 = math::lerp(0.0,0.5,Local12.y); + float Local20 = math::lerp(0.7,1.0,Local9.y); + float Local21 = math::lerp(Local20,1.0,0.0); + float Local22 = (Local21 * 1.0); + float Local23 = (Local19 + Local22); + float Local24 = math::min(math::max(Local23,0.0),1.0); + + float3 EmissiveColor_mdl = float3(0.0,0.0,0.0); + float OpacityMask_mdl = 1.0; + float3 BaseColor_mdl = float3(Local18,Local18,Local18); + float Metallic_mdl = 0.0; + float Specular_mdl = 0.5; + float Roughness_mdl = Local24; + + } in + ::OmniUe4Base( + base_color: BaseColor_mdl, + metallic: Metallic_mdl, + roughness: Roughness_mdl, + specular: Specular_mdl, + normal: Normal_mdl, + opacity: OpacityMask_mdl, + emissive_color: EmissiveColor_mdl, + displacement: WorldPositionOffset_mdl, + two_sided: false); diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_beef.usd b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_beef.usd new file mode 100644 index 0000000000000000000000000000000000000000..288c781f49dbf1616edc7572f6a49789b6a31bac --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_beef.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8cdda8d928aeca55590b5133d833f1ba000e4c7104098cfa4510a6210cc3c039 +size 1470726 diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_beef.usda b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_beef.usda new file mode 100644 index 0000000000000000000000000000000000000000..e2fd2ea9eddd6ecc0f67d1ded297571f86f2e0bb --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_beef.usda @@ -0,0 +1,78 @@ +#usda 1.0 +( + customLayerData = { + dictionary omni_layer = { + dictionary locked = { + } + dictionary muteness = { + } + } + dictionary renderSettings = { + float3 "rtx:debugView:pixelDebug:textColor" = (0, 1e18, 0) + float3 "rtx:fog:fogColor" = (0.75, 0.75, 0.75) + float3 "rtx:index:backgroundColor" = (0, 0, 0) + float3 "rtx:index:regionOfInterestMax" = (0, 0, 0) + float3 "rtx:index:regionOfInterestMin" = (0, 0, 0) + float3 "rtx:post:backgroundZeroAlpha:backgroundDefaultColor" = (0, 0, 0) + float3 "rtx:post:colorcorr:contrast" = (1, 1, 1) + float3 "rtx:post:colorcorr:gain" = (1, 1, 1) + float3 "rtx:post:colorcorr:gamma" = (1, 1, 1) + float3 "rtx:post:colorcorr:offset" = (0, 0, 0) + float3 "rtx:post:colorcorr:saturation" = (1, 1, 1) + float3 "rtx:post:colorgrad:blackpoint" = (0, 0, 0) + float3 "rtx:post:colorgrad:contrast" = (1, 1, 1) + float3 "rtx:post:colorgrad:gain" = (1, 1, 1) + float3 "rtx:post:colorgrad:gamma" = (1, 1, 1) + float3 "rtx:post:colorgrad:lift" = (0, 0, 0) + float3 "rtx:post:colorgrad:multiply" = (1, 1, 1) + float3 "rtx:post:colorgrad:offset" = (0, 0, 0) + float3 "rtx:post:colorgrad:whitepoint" = (1, 1, 1) + float3 "rtx:post:lensDistortion:lensFocalLengthArray" = (10, 30, 50) + float3 "rtx:post:lensFlares:anisoFlareFalloffX" = (450, 475, 500) + float3 "rtx:post:lensFlares:anisoFlareFalloffY" = (10, 10, 10) + float3 "rtx:post:lensFlares:cutoffPoint" = (2, 2, 2) + float3 "rtx:post:lensFlares:haloFlareFalloff" = (10, 10, 10) + float3 "rtx:post:lensFlares:haloFlareRadius" = (75, 75, 75) + float3 "rtx:post:lensFlares:isotropicFlareFalloff" = (50, 50, 50) + float3 "rtx:post:tonemap:whitepoint" = (1, 1, 1) + float3 "rtx:raytracing:indexdirect:svoBrickSize" = (32, 32, 32) + float3 "rtx:raytracing:inscattering:singleScatteringAlbedo" = (0.9, 0.9, 0.9) + float3 "rtx:raytracing:inscattering:transmittanceColor" = (0.5, 0.5, 0.5) + float3 "rtx:sceneDb:ambientLightColor" = (0.1, 0.1, 0.1) + double "rtx:translucency:worldEps" = 0.005 + } + } + defaultPrim = "World" + endTimeCode = 1000000 + metersPerUnit = 1.0 + startTimeCode = 0 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +over "Render" ( + hide_in_stage_window = true +) +{ +} + +def Xform "World" +{ + def "_obj_beef" ( + prepend payload = @./obj_beef.usd@ + ) + { + float3 xformOp:rotateXYZ = (0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] + } +} + +def Xform "Environment" +{ + double3 xformOp:rotateXYZ = (0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] +} diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board1.usd b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board1.usd new file mode 100644 index 0000000000000000000000000000000000000000..f1450b42cc35c5622740c86a16872cd7dff4b687 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board1.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5f78c4874e65c6dd841c3286e36730e6294ceedd5deb27489d2a43f66ff27c5 +size 2631452 diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board1.usda b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board1.usda new file mode 100644 index 0000000000000000000000000000000000000000..3d8d08250571f7e56f853ee630c45849ee75ecea --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board1.usda @@ -0,0 +1,78 @@ +#usda 1.0 +( + customLayerData = { + dictionary omni_layer = { + dictionary locked = { + } + dictionary muteness = { + } + } + dictionary renderSettings = { + float3 "rtx:debugView:pixelDebug:textColor" = (0, 1e18, 0) + float3 "rtx:fog:fogColor" = (0.75, 0.75, 0.75) + float3 "rtx:index:backgroundColor" = (0, 0, 0) + float3 "rtx:index:regionOfInterestMax" = (0, 0, 0) + float3 "rtx:index:regionOfInterestMin" = (0, 0, 0) + float3 "rtx:post:backgroundZeroAlpha:backgroundDefaultColor" = (0, 0, 0) + float3 "rtx:post:colorcorr:contrast" = (1, 1, 1) + float3 "rtx:post:colorcorr:gain" = (1, 1, 1) + float3 "rtx:post:colorcorr:gamma" = (1, 1, 1) + float3 "rtx:post:colorcorr:offset" = (0, 0, 0) + float3 "rtx:post:colorcorr:saturation" = (1, 1, 1) + float3 "rtx:post:colorgrad:blackpoint" = (0, 0, 0) + float3 "rtx:post:colorgrad:contrast" = (1, 1, 1) + float3 "rtx:post:colorgrad:gain" = (1, 1, 1) + float3 "rtx:post:colorgrad:gamma" = (1, 1, 1) + float3 "rtx:post:colorgrad:lift" = (0, 0, 0) + float3 "rtx:post:colorgrad:multiply" = (1, 1, 1) + float3 "rtx:post:colorgrad:offset" = (0, 0, 0) + float3 "rtx:post:colorgrad:whitepoint" = (1, 1, 1) + float3 "rtx:post:lensDistortion:lensFocalLengthArray" = (10, 30, 50) + float3 "rtx:post:lensFlares:anisoFlareFalloffX" = (450, 475, 500) + float3 "rtx:post:lensFlares:anisoFlareFalloffY" = (10, 10, 10) + float3 "rtx:post:lensFlares:cutoffPoint" = (2, 2, 2) + float3 "rtx:post:lensFlares:haloFlareFalloff" = (10, 10, 10) + float3 "rtx:post:lensFlares:haloFlareRadius" = (75, 75, 75) + float3 "rtx:post:lensFlares:isotropicFlareFalloff" = (50, 50, 50) + float3 "rtx:post:tonemap:whitepoint" = (1, 1, 1) + float3 "rtx:raytracing:indexdirect:svoBrickSize" = (32, 32, 32) + float3 "rtx:raytracing:inscattering:singleScatteringAlbedo" = (0.9, 0.9, 0.9) + float3 "rtx:raytracing:inscattering:transmittanceColor" = (0.5, 0.5, 0.5) + float3 "rtx:sceneDb:ambientLightColor" = (0.1, 0.1, 0.1) + double "rtx:translucency:worldEps" = 0.005 + } + } + defaultPrim = "World" + endTimeCode = 1000000 + metersPerUnit = 1.0 + startTimeCode = 0 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +over "Render" ( + hide_in_stage_window = true +) +{ +} + +def Xform "World" +{ + def "_obj_board1" ( + prepend payload = @./obj_board1.usd@ + ) + { + float3 xformOp:rotateXYZ = (0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] + } +} + +def Xform "Environment" +{ + double3 xformOp:rotateXYZ = (0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] +} diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board3.usd b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board3.usd new file mode 100644 index 0000000000000000000000000000000000000000..ca05dd51a55977367db19aced75a83aa6ac8a4a6 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board3.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8fcf90f3684daac50c4bcefa8fd15c94ff70881576af148ddd7d86c39453b9ee +size 2631452 diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board3.usda b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board3.usda new file mode 100644 index 0000000000000000000000000000000000000000..123add371801e32008aaf3fceee053bf0d1f7b3d --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board3.usda @@ -0,0 +1,78 @@ +#usda 1.0 +( + customLayerData = { + dictionary omni_layer = { + dictionary locked = { + } + dictionary muteness = { + } + } + dictionary renderSettings = { + float3 "rtx:debugView:pixelDebug:textColor" = (0, 1e18, 0) + float3 "rtx:fog:fogColor" = (0.75, 0.75, 0.75) + float3 "rtx:index:backgroundColor" = (0, 0, 0) + float3 "rtx:index:regionOfInterestMax" = (0, 0, 0) + float3 "rtx:index:regionOfInterestMin" = (0, 0, 0) + float3 "rtx:post:backgroundZeroAlpha:backgroundDefaultColor" = (0, 0, 0) + float3 "rtx:post:colorcorr:contrast" = (1, 1, 1) + float3 "rtx:post:colorcorr:gain" = (1, 1, 1) + float3 "rtx:post:colorcorr:gamma" = (1, 1, 1) + float3 "rtx:post:colorcorr:offset" = (0, 0, 0) + float3 "rtx:post:colorcorr:saturation" = (1, 1, 1) + float3 "rtx:post:colorgrad:blackpoint" = (0, 0, 0) + float3 "rtx:post:colorgrad:contrast" = (1, 1, 1) + float3 "rtx:post:colorgrad:gain" = (1, 1, 1) + float3 "rtx:post:colorgrad:gamma" = (1, 1, 1) + float3 "rtx:post:colorgrad:lift" = (0, 0, 0) + float3 "rtx:post:colorgrad:multiply" = (1, 1, 1) + float3 "rtx:post:colorgrad:offset" = (0, 0, 0) + float3 "rtx:post:colorgrad:whitepoint" = (1, 1, 1) + float3 "rtx:post:lensDistortion:lensFocalLengthArray" = (10, 30, 50) + float3 "rtx:post:lensFlares:anisoFlareFalloffX" = (450, 475, 500) + float3 "rtx:post:lensFlares:anisoFlareFalloffY" = (10, 10, 10) + float3 "rtx:post:lensFlares:cutoffPoint" = (2, 2, 2) + float3 "rtx:post:lensFlares:haloFlareFalloff" = (10, 10, 10) + float3 "rtx:post:lensFlares:haloFlareRadius" = (75, 75, 75) + float3 "rtx:post:lensFlares:isotropicFlareFalloff" = (50, 50, 50) + float3 "rtx:post:tonemap:whitepoint" = (1, 1, 1) + float3 "rtx:raytracing:indexdirect:svoBrickSize" = (32, 32, 32) + float3 "rtx:raytracing:inscattering:singleScatteringAlbedo" = (0.9, 0.9, 0.9) + float3 "rtx:raytracing:inscattering:transmittanceColor" = (0.5, 0.5, 0.5) + float3 "rtx:sceneDb:ambientLightColor" = (0.1, 0.1, 0.1) + double "rtx:translucency:worldEps" = 0.005 + } + } + defaultPrim = "World" + endTimeCode = 1000000 + metersPerUnit = 1.0 + startTimeCode = 0 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +over "Render" ( + hide_in_stage_window = true +) +{ +} + +def Xform "World" +{ + def "_obj_board3" ( + prepend payload = @./obj_board3.usd@ + ) + { + float3 xformOp:rotateXYZ = (0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] + } +} + +def Xform "Environment" +{ + double3 xformOp:rotateXYZ = (0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] +} diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board4.usd b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board4.usd new file mode 100644 index 0000000000000000000000000000000000000000..6bca3358d7b5b1dc002b74a374875e1120908c69 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board4.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c4854599daf9b31fcf6199ff7e74e98e26617cc505d6cca3cff74b232df075a5 +size 2631452 diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board5.usd b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board5.usd new file mode 100644 index 0000000000000000000000000000000000000000..827102177878c4ed89eb947fe4dcfb436611a186 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board5.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:75394bc53ff13d7af0c5dd5afb876a2372eca7556b4891a1b9bb6764a384e3de +size 2631452 diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board5.usda b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board5.usda new file mode 100644 index 0000000000000000000000000000000000000000..b5bf0cfc00ada115cabffe26e75a7150b2391ec0 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board5.usda @@ -0,0 +1,78 @@ +#usda 1.0 +( + customLayerData = { + dictionary omni_layer = { + dictionary locked = { + } + dictionary muteness = { + } + } + dictionary renderSettings = { + float3 "rtx:debugView:pixelDebug:textColor" = (0, 1e18, 0) + float3 "rtx:fog:fogColor" = (0.75, 0.75, 0.75) + float3 "rtx:index:backgroundColor" = (0, 0, 0) + float3 "rtx:index:regionOfInterestMax" = (0, 0, 0) + float3 "rtx:index:regionOfInterestMin" = (0, 0, 0) + float3 "rtx:post:backgroundZeroAlpha:backgroundDefaultColor" = (0, 0, 0) + float3 "rtx:post:colorcorr:contrast" = (1, 1, 1) + float3 "rtx:post:colorcorr:gain" = (1, 1, 1) + float3 "rtx:post:colorcorr:gamma" = (1, 1, 1) + float3 "rtx:post:colorcorr:offset" = (0, 0, 0) + float3 "rtx:post:colorcorr:saturation" = (1, 1, 1) + float3 "rtx:post:colorgrad:blackpoint" = (0, 0, 0) + float3 "rtx:post:colorgrad:contrast" = (1, 1, 1) + float3 "rtx:post:colorgrad:gain" = (1, 1, 1) + float3 "rtx:post:colorgrad:gamma" = (1, 1, 1) + float3 "rtx:post:colorgrad:lift" = (0, 0, 0) + float3 "rtx:post:colorgrad:multiply" = (1, 1, 1) + float3 "rtx:post:colorgrad:offset" = (0, 0, 0) + float3 "rtx:post:colorgrad:whitepoint" = (1, 1, 1) + float3 "rtx:post:lensDistortion:lensFocalLengthArray" = (10, 30, 50) + float3 "rtx:post:lensFlares:anisoFlareFalloffX" = (450, 475, 500) + float3 "rtx:post:lensFlares:anisoFlareFalloffY" = (10, 10, 10) + float3 "rtx:post:lensFlares:cutoffPoint" = (2, 2, 2) + float3 "rtx:post:lensFlares:haloFlareFalloff" = (10, 10, 10) + float3 "rtx:post:lensFlares:haloFlareRadius" = (75, 75, 75) + float3 "rtx:post:lensFlares:isotropicFlareFalloff" = (50, 50, 50) + float3 "rtx:post:tonemap:whitepoint" = (1, 1, 1) + float3 "rtx:raytracing:indexdirect:svoBrickSize" = (32, 32, 32) + float3 "rtx:raytracing:inscattering:singleScatteringAlbedo" = (0.9, 0.9, 0.9) + float3 "rtx:raytracing:inscattering:transmittanceColor" = (0.5, 0.5, 0.5) + float3 "rtx:sceneDb:ambientLightColor" = (0.1, 0.1, 0.1) + double "rtx:translucency:worldEps" = 0.005 + } + } + defaultPrim = "World" + endTimeCode = 1000000 + metersPerUnit = 1.0 + startTimeCode = 0 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +over "Render" ( + hide_in_stage_window = true +) +{ +} + +def Xform "World" +{ + def "_obj_board5" ( + prepend payload = @./obj_board5.usd@ + ) + { + float3 xformOp:rotateXYZ = (0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] + } +} + +def Xform "Environment" +{ + double3 xformOp:rotateXYZ = (0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] +} diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board6.usd b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board6.usd new file mode 100644 index 0000000000000000000000000000000000000000..bb7153d8f7fd6d866fdedf161c99ada0ed26c03e --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board6.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a23545d82a6895557c73e0a2c5ad8a5eac5c0ddcc123c5c0e67d68e5c3e86bab +size 2631452 diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board6.usda b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board6.usda new file mode 100644 index 0000000000000000000000000000000000000000..b51a000b50e10108867a661be1f48fcdde9bde74 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board6.usda @@ -0,0 +1,78 @@ +#usda 1.0 +( + customLayerData = { + dictionary omni_layer = { + dictionary locked = { + } + dictionary muteness = { + } + } + dictionary renderSettings = { + float3 "rtx:debugView:pixelDebug:textColor" = (0, 1e18, 0) + float3 "rtx:fog:fogColor" = (0.75, 0.75, 0.75) + float3 "rtx:index:backgroundColor" = (0, 0, 0) + float3 "rtx:index:regionOfInterestMax" = (0, 0, 0) + float3 "rtx:index:regionOfInterestMin" = (0, 0, 0) + float3 "rtx:post:backgroundZeroAlpha:backgroundDefaultColor" = (0, 0, 0) + float3 "rtx:post:colorcorr:contrast" = (1, 1, 1) + float3 "rtx:post:colorcorr:gain" = (1, 1, 1) + float3 "rtx:post:colorcorr:gamma" = (1, 1, 1) + float3 "rtx:post:colorcorr:offset" = (0, 0, 0) + float3 "rtx:post:colorcorr:saturation" = (1, 1, 1) + float3 "rtx:post:colorgrad:blackpoint" = (0, 0, 0) + float3 "rtx:post:colorgrad:contrast" = (1, 1, 1) + float3 "rtx:post:colorgrad:gain" = (1, 1, 1) + float3 "rtx:post:colorgrad:gamma" = (1, 1, 1) + float3 "rtx:post:colorgrad:lift" = (0, 0, 0) + float3 "rtx:post:colorgrad:multiply" = (1, 1, 1) + float3 "rtx:post:colorgrad:offset" = (0, 0, 0) + float3 "rtx:post:colorgrad:whitepoint" = (1, 1, 1) + float3 "rtx:post:lensDistortion:lensFocalLengthArray" = (10, 30, 50) + float3 "rtx:post:lensFlares:anisoFlareFalloffX" = (450, 475, 500) + float3 "rtx:post:lensFlares:anisoFlareFalloffY" = (10, 10, 10) + float3 "rtx:post:lensFlares:cutoffPoint" = (2, 2, 2) + float3 "rtx:post:lensFlares:haloFlareFalloff" = (10, 10, 10) + float3 "rtx:post:lensFlares:haloFlareRadius" = (75, 75, 75) + float3 "rtx:post:lensFlares:isotropicFlareFalloff" = (50, 50, 50) + float3 "rtx:post:tonemap:whitepoint" = (1, 1, 1) + float3 "rtx:raytracing:indexdirect:svoBrickSize" = (32, 32, 32) + float3 "rtx:raytracing:inscattering:singleScatteringAlbedo" = (0.9, 0.9, 0.9) + float3 "rtx:raytracing:inscattering:transmittanceColor" = (0.5, 0.5, 0.5) + float3 "rtx:sceneDb:ambientLightColor" = (0.1, 0.1, 0.1) + double "rtx:translucency:worldEps" = 0.005 + } + } + defaultPrim = "World" + endTimeCode = 1000000 + metersPerUnit = 1.0 + startTimeCode = 0 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +over "Render" ( + hide_in_stage_window = true +) +{ +} + +def Xform "World" +{ + def "_obj_board6" ( + prepend payload = @./obj_board6.usd@ + ) + { + float3 xformOp:rotateXYZ = (0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] + } +} + +def Xform "Environment" +{ + double3 xformOp:rotateXYZ = (0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] +} diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board7.usd b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board7.usd new file mode 100644 index 0000000000000000000000000000000000000000..7aa055102d0e980d7988f965c86d6415eee9e2c4 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board7.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d21d5b90f02d3f01056ddace68cef30768d47ca08f6da9a14dc9a0f28491cff4 +size 2631452 diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board8.usd b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board8.usd new file mode 100644 index 0000000000000000000000000000000000000000..6659109e9f34432e7603d8e5a9bcaee0a52ee112 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board8.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a2a87174caf604282091f62e778724e2462b98ff62d15e1dd76cb2f2e0bd74bc +size 2631452 diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board8.usda b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board8.usda new file mode 100644 index 0000000000000000000000000000000000000000..4babe310b3709d0a60bf31f95d702389406d6602 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_board8.usda @@ -0,0 +1,78 @@ +#usda 1.0 +( + customLayerData = { + dictionary omni_layer = { + dictionary locked = { + } + dictionary muteness = { + } + } + dictionary renderSettings = { + float3 "rtx:debugView:pixelDebug:textColor" = (0, 1e18, 0) + float3 "rtx:fog:fogColor" = (0.75, 0.75, 0.75) + float3 "rtx:index:backgroundColor" = (0, 0, 0) + float3 "rtx:index:regionOfInterestMax" = (0, 0, 0) + float3 "rtx:index:regionOfInterestMin" = (0, 0, 0) + float3 "rtx:post:backgroundZeroAlpha:backgroundDefaultColor" = (0, 0, 0) + float3 "rtx:post:colorcorr:contrast" = (1, 1, 1) + float3 "rtx:post:colorcorr:gain" = (1, 1, 1) + float3 "rtx:post:colorcorr:gamma" = (1, 1, 1) + float3 "rtx:post:colorcorr:offset" = (0, 0, 0) + float3 "rtx:post:colorcorr:saturation" = (1, 1, 1) + float3 "rtx:post:colorgrad:blackpoint" = (0, 0, 0) + float3 "rtx:post:colorgrad:contrast" = (1, 1, 1) + float3 "rtx:post:colorgrad:gain" = (1, 1, 1) + float3 "rtx:post:colorgrad:gamma" = (1, 1, 1) + float3 "rtx:post:colorgrad:lift" = (0, 0, 0) + float3 "rtx:post:colorgrad:multiply" = (1, 1, 1) + float3 "rtx:post:colorgrad:offset" = (0, 0, 0) + float3 "rtx:post:colorgrad:whitepoint" = (1, 1, 1) + float3 "rtx:post:lensDistortion:lensFocalLengthArray" = (10, 30, 50) + float3 "rtx:post:lensFlares:anisoFlareFalloffX" = (450, 475, 500) + float3 "rtx:post:lensFlares:anisoFlareFalloffY" = (10, 10, 10) + float3 "rtx:post:lensFlares:cutoffPoint" = (2, 2, 2) + float3 "rtx:post:lensFlares:haloFlareFalloff" = (10, 10, 10) + float3 "rtx:post:lensFlares:haloFlareRadius" = (75, 75, 75) + float3 "rtx:post:lensFlares:isotropicFlareFalloff" = (50, 50, 50) + float3 "rtx:post:tonemap:whitepoint" = (1, 1, 1) + float3 "rtx:raytracing:indexdirect:svoBrickSize" = (32, 32, 32) + float3 "rtx:raytracing:inscattering:singleScatteringAlbedo" = (0.9, 0.9, 0.9) + float3 "rtx:raytracing:inscattering:transmittanceColor" = (0.5, 0.5, 0.5) + float3 "rtx:sceneDb:ambientLightColor" = (0.1, 0.1, 0.1) + double "rtx:translucency:worldEps" = 0.005 + } + } + defaultPrim = "World" + endTimeCode = 1000000 + metersPerUnit = 1.0 + startTimeCode = 0 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +over "Render" ( + hide_in_stage_window = true +) +{ +} + +def Xform "World" +{ + def "_obj_board8" ( + prepend payload = @./obj_board8.usd@ + ) + { + float3 xformOp:rotateXYZ = (0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] + } +} + +def Xform "Environment" +{ + double3 xformOp:rotateXYZ = (0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] +} diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_bread4.usd b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_bread4.usd new file mode 100644 index 0000000000000000000000000000000000000000..756b9288c316c1eb8f4e12f95572e3f2a28d251d --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_bread4.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:34d483cb322d0e019c7e87f771e8423e67993fbfd5568e7dd318a97eb43ac619 +size 2736861 diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_bread4.usda b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_bread4.usda new file mode 100644 index 0000000000000000000000000000000000000000..712dab4e62fb4c0ac3f02b8cefb39a87d6e2dcea --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_bread4.usda @@ -0,0 +1,78 @@ +#usda 1.0 +( + customLayerData = { + dictionary omni_layer = { + dictionary locked = { + } + dictionary muteness = { + } + } + dictionary renderSettings = { + float3 "rtx:debugView:pixelDebug:textColor" = (0, 1e18, 0) + float3 "rtx:fog:fogColor" = (0.75, 0.75, 0.75) + float3 "rtx:index:backgroundColor" = (0, 0, 0) + float3 "rtx:index:regionOfInterestMax" = (0, 0, 0) + float3 "rtx:index:regionOfInterestMin" = (0, 0, 0) + float3 "rtx:post:backgroundZeroAlpha:backgroundDefaultColor" = (0, 0, 0) + float3 "rtx:post:colorcorr:contrast" = (1, 1, 1) + float3 "rtx:post:colorcorr:gain" = (1, 1, 1) + float3 "rtx:post:colorcorr:gamma" = (1, 1, 1) + float3 "rtx:post:colorcorr:offset" = (0, 0, 0) + float3 "rtx:post:colorcorr:saturation" = (1, 1, 1) + float3 "rtx:post:colorgrad:blackpoint" = (0, 0, 0) + float3 "rtx:post:colorgrad:contrast" = (1, 1, 1) + float3 "rtx:post:colorgrad:gain" = (1, 1, 1) + float3 "rtx:post:colorgrad:gamma" = (1, 1, 1) + float3 "rtx:post:colorgrad:lift" = (0, 0, 0) + float3 "rtx:post:colorgrad:multiply" = (1, 1, 1) + float3 "rtx:post:colorgrad:offset" = (0, 0, 0) + float3 "rtx:post:colorgrad:whitepoint" = (1, 1, 1) + float3 "rtx:post:lensDistortion:lensFocalLengthArray" = (10, 30, 50) + float3 "rtx:post:lensFlares:anisoFlareFalloffX" = (450, 475, 500) + float3 "rtx:post:lensFlares:anisoFlareFalloffY" = (10, 10, 10) + float3 "rtx:post:lensFlares:cutoffPoint" = (2, 2, 2) + float3 "rtx:post:lensFlares:haloFlareFalloff" = (10, 10, 10) + float3 "rtx:post:lensFlares:haloFlareRadius" = (75, 75, 75) + float3 "rtx:post:lensFlares:isotropicFlareFalloff" = (50, 50, 50) + float3 "rtx:post:tonemap:whitepoint" = (1, 1, 1) + float3 "rtx:raytracing:indexdirect:svoBrickSize" = (32, 32, 32) + float3 "rtx:raytracing:inscattering:singleScatteringAlbedo" = (0.9, 0.9, 0.9) + float3 "rtx:raytracing:inscattering:transmittanceColor" = (0.5, 0.5, 0.5) + float3 "rtx:sceneDb:ambientLightColor" = (0.1, 0.1, 0.1) + double "rtx:translucency:worldEps" = 0.005 + } + } + defaultPrim = "World" + endTimeCode = 1000000 + metersPerUnit = 1.0 + startTimeCode = 0 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +over "Render" ( + hide_in_stage_window = true +) +{ +} + +def Xform "World" +{ + def "_obj_bread4" ( + prepend payload = @./obj_bread4.usd@ + ) + { + float3 xformOp:rotateXYZ = (0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] + } +} + +def Xform "Environment" +{ + double3 xformOp:rotateXYZ = (0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] +} diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_lettuce.usd b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_lettuce.usd new file mode 100644 index 0000000000000000000000000000000000000000..65848090ae1e6fe6f43eabf7fbc0a897185bf876 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_lettuce.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7caaf6c7b618554fd542905ecb3f9c172fc5839524c167997be438c8755c9cf4 +size 1399230 diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_lettuce.usda b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_lettuce.usda new file mode 100644 index 0000000000000000000000000000000000000000..deab00fb4974d39d8d5c3f085cdc69ac50193218 --- /dev/null +++ b/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_lettuce.usda @@ -0,0 +1,78 @@ +#usda 1.0 +( + customLayerData = { + dictionary omni_layer = { + dictionary locked = { + } + dictionary muteness = { + } + } + dictionary renderSettings = { + float3 "rtx:debugView:pixelDebug:textColor" = (0, 1e18, 0) + float3 "rtx:fog:fogColor" = (0.75, 0.75, 0.75) + float3 "rtx:index:backgroundColor" = (0, 0, 0) + float3 "rtx:index:regionOfInterestMax" = (0, 0, 0) + float3 "rtx:index:regionOfInterestMin" = (0, 0, 0) + float3 "rtx:post:backgroundZeroAlpha:backgroundDefaultColor" = (0, 0, 0) + float3 "rtx:post:colorcorr:contrast" = (1, 1, 1) + float3 "rtx:post:colorcorr:gain" = (1, 1, 1) + float3 "rtx:post:colorcorr:gamma" = (1, 1, 1) + float3 "rtx:post:colorcorr:offset" = (0, 0, 0) + float3 "rtx:post:colorcorr:saturation" = (1, 1, 1) + float3 "rtx:post:colorgrad:blackpoint" = (0, 0, 0) + float3 "rtx:post:colorgrad:contrast" = (1, 1, 1) + float3 "rtx:post:colorgrad:gain" = (1, 1, 1) + float3 "rtx:post:colorgrad:gamma" = (1, 1, 1) + float3 "rtx:post:colorgrad:lift" = (0, 0, 0) + float3 "rtx:post:colorgrad:multiply" = (1, 1, 1) + float3 "rtx:post:colorgrad:offset" = (0, 0, 0) + float3 "rtx:post:colorgrad:whitepoint" = (1, 1, 1) + float3 "rtx:post:lensDistortion:lensFocalLengthArray" = (10, 30, 50) + float3 "rtx:post:lensFlares:anisoFlareFalloffX" = (450, 475, 500) + float3 "rtx:post:lensFlares:anisoFlareFalloffY" = (10, 10, 10) + float3 "rtx:post:lensFlares:cutoffPoint" = (2, 2, 2) + float3 "rtx:post:lensFlares:haloFlareFalloff" = (10, 10, 10) + float3 "rtx:post:lensFlares:haloFlareRadius" = (75, 75, 75) + float3 "rtx:post:lensFlares:isotropicFlareFalloff" = (50, 50, 50) + float3 "rtx:post:tonemap:whitepoint" = (1, 1, 1) + float3 "rtx:raytracing:indexdirect:svoBrickSize" = (32, 32, 32) + float3 "rtx:raytracing:inscattering:singleScatteringAlbedo" = (0.9, 0.9, 0.9) + float3 "rtx:raytracing:inscattering:transmittanceColor" = (0.5, 0.5, 0.5) + float3 "rtx:sceneDb:ambientLightColor" = (0.1, 0.1, 0.1) + double "rtx:translucency:worldEps" = 0.005 + } + } + defaultPrim = "World" + endTimeCode = 1000000 + metersPerUnit = 1.0 + startTimeCode = 0 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +over "Render" ( + hide_in_stage_window = true +) +{ +} + +def Xform "World" +{ + def "_obj_lettuce" ( + prepend payload = @./obj_lettuce.usd@ + ) + { + float3 xformOp:rotateXYZ = (0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] + } +} + +def Xform "Environment" +{ + double3 xformOp:rotateXYZ = (0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] +} diff --git a/assets/scene_usds/ebench/long_horizon/scene_sandwich/SubUSDs/obj_lettuce_1.usd 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+ type: 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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/000/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/000/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..0d026efec093f30c0870513dca9f8c06ce3e6424 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/000/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60d61cfd75aa86b5138e48b571d8dd4349410009019071b14c78e5a549f86a44 +size 11723 diff --git a/tasks/ebench/mobile_manip/dishwasher/002/config.yaml b/tasks/ebench/mobile_manip/dishwasher/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/002/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/002/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/002/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..0523e05191efe416c61bd7773d5152e0922bb16e --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/002/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48a2e05d215e6f73002cb3b604b147560d03d7e2493686fb4ce94e7c181090b7 +size 11720 diff --git a/tasks/ebench/mobile_manip/dishwasher/003/config.yaml b/tasks/ebench/mobile_manip/dishwasher/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/003/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/003/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/003/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..c7d0ddfdb39ae1d029e99f52911c59131499e7b4 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/003/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb7cdd41758c34f7880f3386508e6dbfa28cfe2e1a34193a1a04292ea757d05c +size 11709 diff --git a/tasks/ebench/mobile_manip/dishwasher/004/config.yaml b/tasks/ebench/mobile_manip/dishwasher/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/004/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/004/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/004/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..e3e00c643a7095811752ef96c5145c5bca7c5dd6 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/004/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7034aa82d5fb51fcd695f8b837fac9b6a40075ed0df56aa74ba579d923aabfa +size 11703 diff --git a/tasks/ebench/mobile_manip/dishwasher/005/config.yaml b/tasks/ebench/mobile_manip/dishwasher/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/005/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/005/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/005/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..6b76b02b17f0412eb07ccfa1c6b7f3364f8f74ac --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/005/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0cd75b664a9d5e79c26c7d6b4e8ec3da86ad66dd8925d9a54b839c008cae96f5 +size 11706 diff --git a/tasks/ebench/mobile_manip/dishwasher/006/config.yaml b/tasks/ebench/mobile_manip/dishwasher/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/006/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/006/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/006/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..638b9a73071c521fd406b90e9de0b9461ed62f20 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/006/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb2cdd29b1043c4691e6f0e76ec77daabbfb90435790e4acce7eb7f061dc418b +size 11692 diff --git a/tasks/ebench/mobile_manip/dishwasher/007/config.yaml b/tasks/ebench/mobile_manip/dishwasher/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/007/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/007/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/007/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..5e7b4fbdfb481c31ad758d7dccf88d88412bb0c3 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/007/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b5c2b0197e27aa25287c788610eb3da9e8d17b63472ec4abb65c595b50c882b8 +size 11686 diff --git a/tasks/ebench/mobile_manip/dishwasher/008/config.yaml b/tasks/ebench/mobile_manip/dishwasher/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/008/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/008/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/008/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..38fbba6a9169df6400051d1cbb87bf967683d79a --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/008/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aceb5277c14f317175c8f4387bbc59b37d9cde3589ace7a6f7edc266ca08df7d +size 11689 diff --git a/tasks/ebench/mobile_manip/dishwasher/009/config.yaml b/tasks/ebench/mobile_manip/dishwasher/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/009/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/009/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/009/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..8981dd28435e916aa4fe2f549d0ad4e06a0519d1 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/009/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4295b373a1bab1f99911f0e1a8c4b1ce8bbe673ceeeae4ecd214da57b6070e27 +size 11724 diff --git a/tasks/ebench/mobile_manip/dishwasher/010/config.yaml b/tasks/ebench/mobile_manip/dishwasher/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/010/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/010/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/010/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..5f0196ea49e9596f9e155521b58a7b36b08f6e39 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/010/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa0e7910eb5fef79cff5cbb8aa6e4e991314e6deebb4aee3a22844f8cb6f4bf3 +size 11718 diff --git a/tasks/ebench/mobile_manip/dishwasher/011/config.yaml b/tasks/ebench/mobile_manip/dishwasher/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/011/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/011/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/011/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..0470a4835606f16e4ff45737a04649396824e23e --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/011/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92e9b4f8911e352a55b5e9885b989420aba34a7e50f4cdb4d51658c0eec53e36 +size 11721 diff --git a/tasks/ebench/mobile_manip/dishwasher/012/config.yaml b/tasks/ebench/mobile_manip/dishwasher/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/012/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/012/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/012/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..9fdcd2cef194cba521b772f623c4316b5a2a9a2f --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/012/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf981959bc997f0ff5fa310600cf024a15b51e4ec1482ad7ff37707085665c72 +size 11721 diff --git a/tasks/ebench/mobile_manip/dishwasher/013/config.yaml b/tasks/ebench/mobile_manip/dishwasher/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/013/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/013/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/013/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..834733b8c3dfe07965aa0e45e5fc39cca6c120ce --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/013/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c46adacf302344bf933be4cbf6420a4c689e534b4569777fbe8527a313e1fb1 +size 11715 diff --git a/tasks/ebench/mobile_manip/dishwasher/014/config.yaml b/tasks/ebench/mobile_manip/dishwasher/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/014/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/014/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/014/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..fce6361087f06e9dfb5c7a829a33b05986b5ae16 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/014/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da614b60ef3c80355d051d335c149fa5a1d86052c7092810ac5ead43a80fb9f1 +size 11718 diff --git a/tasks/ebench/mobile_manip/dishwasher/015/config.yaml b/tasks/ebench/mobile_manip/dishwasher/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/015/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/015/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/015/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..845e39f3f709839a0ac0b7aada55fb9632881cc9 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/015/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15856425ab7339f47f6a9fde04c85ae8ac4df158bd09b43d778f1f2dafabc14b +size 11706 diff --git a/tasks/ebench/mobile_manip/dishwasher/017/config.yaml b/tasks/ebench/mobile_manip/dishwasher/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/017/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/017/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/017/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..68ae62e296eda4b0af2bbe3a15eb1bbd3b951b20 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/017/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b43ef5900a1094587f297fcfbc84f7b3abc2208e9d606a3e43e7c3495fc9ae9b +size 11691 diff --git a/tasks/ebench/mobile_manip/dishwasher/018/config.yaml b/tasks/ebench/mobile_manip/dishwasher/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/018/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/018/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/018/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..c8452ebb8202452644ffe71a659576565042654a --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/018/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6262f3feb79012e2e8f1e7cddc27f0b230c3cafe0c9a8e791277891bfa4fa195 +size 11719 diff --git a/tasks/ebench/mobile_manip/dishwasher/019/config.yaml b/tasks/ebench/mobile_manip/dishwasher/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/019/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/019/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/019/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..717929a839a52a4fede0bedd618f59990c2505a0 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/019/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9204c7873c10393ae56ad6593c4c96aee71f5c3bb75d1a3e5133a15b7960b1f4 +size 11710 diff --git a/tasks/ebench/mobile_manip/dishwasher/020/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/020/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..3f5ce6cdfd3b280485112537da485060933adfa9 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/020/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:16f69746c6e8144ba9511193b9f4e856109b886bb123655bfda73e8bd7417a5c +size 11704 diff --git a/tasks/ebench/mobile_manip/dishwasher/021/lmdb/data.mdb b/tasks/ebench/mobile_manip/dishwasher/021/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b81b4c6974fc3146cbbb419f87e24ad1ee83feb6 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/021/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8fdbe955eed8f2d686e619b191a22c0e72a825afda7d3cea3ca22404e9c0d24 +size 6295552 diff --git a/tasks/ebench/mobile_manip/dishwasher/021/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher/021/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/021/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/021/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher/021/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher/021/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher/022/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher/022/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/022/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/022/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher/022/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher/022/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher/024/config.yaml b/tasks/ebench/mobile_manip/dishwasher/024/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/024/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/024/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/024/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..059fcc749b1f879b01d4943df24ec4677a9179fc --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/024/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:28d80e9107a4b1cc35145de82dfcdde10c6ec52c7a8e77a2799238ab0ef3f75e +size 11708 diff --git a/tasks/ebench/mobile_manip/dishwasher/026/config.yaml b/tasks/ebench/mobile_manip/dishwasher/026/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/026/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/026/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/026/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..b3ce8eb2edd7466703bb18d9ddcac7a8bdefd8eb --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/026/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:742236e60251869ce108f3257e4a6c948943cc38860b05a0fdeb18428fb815e4 +size 11713 diff --git a/tasks/ebench/mobile_manip/dishwasher/028/config.yaml b/tasks/ebench/mobile_manip/dishwasher/028/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/028/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/028/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/028/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..97597d927f5e3c3de0576c2abf2a268299bd71ba --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/028/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc9f0e5ff458bb392de801c80a70a950d965aaeb61757095026e15ee3aa13a16 +size 11724 diff --git a/tasks/ebench/mobile_manip/dishwasher/029/config.yaml b/tasks/ebench/mobile_manip/dishwasher/029/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/029/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/029/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/029/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..056b7643263bc18a85cc4f3fc4103d6cd4a02620 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/029/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:116bca96ac157df2e5116f4e40187bab486f2605ebb3f2c9425cb775e9e48516 +size 11715 diff --git a/tasks/ebench/mobile_manip/dishwasher/030/config.yaml b/tasks/ebench/mobile_manip/dishwasher/030/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/030/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/030/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/030/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..478feb7fda7980192f2a0cc40d34d812abb74488 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/030/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:754b0f5c42e154fe010c3ea3e5cc6d48830562a1896926eb1adc2e4266e8c487 +size 11723 diff --git a/tasks/ebench/mobile_manip/dishwasher/031/config.yaml b/tasks/ebench/mobile_manip/dishwasher/031/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/031/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/031/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/031/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..fd3c6ffa38d62b74a19ef547633ed5a5a66afbaa --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/031/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a941abe20daa99227ed2ed4e59cb10a07f46fcab05477561054efc1569266087 +size 11697 diff --git a/tasks/ebench/mobile_manip/dishwasher/032/config.yaml b/tasks/ebench/mobile_manip/dishwasher/032/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/032/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/032/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/032/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..1eef71d96eab26a8a15453fe9745e77d4cc59ea1 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/032/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57024c297a2ab0e1b89bc775f8b0300b1faf307001eeb1d22c91afe3e51792f0 +size 11705 diff --git a/tasks/ebench/mobile_manip/dishwasher/033/config.yaml b/tasks/ebench/mobile_manip/dishwasher/033/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/033/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/033/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/033/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..e0be6e46ec49872b0162c103952507b173069790 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/033/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e947eca41d2d761dab8c798b5d789c7460d2548f6db8f60968fb7a5872de65c5 +size 11709 diff --git a/tasks/ebench/mobile_manip/dishwasher/034/config.yaml b/tasks/ebench/mobile_manip/dishwasher/034/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/034/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/034/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/034/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..9e1f7413bed6dfd83a85956dc04024c73ffd9180 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/034/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:19d255713f0d3cf8bda3aa2b343d7d387cef0f05d83486ef478a5fbfd33561da +size 11713 diff --git a/tasks/ebench/mobile_manip/dishwasher/035/config.yaml b/tasks/ebench/mobile_manip/dishwasher/035/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/035/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/035/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/035/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..dd5a9625de79cae55f97de58a19cb1147ca4937c --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/035/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7808822be2e52f60ccb089bda05edddf2d279f7087f2a4a0c8e9593776c6b69 +size 11727 diff --git a/tasks/ebench/mobile_manip/dishwasher/036/config.yaml b/tasks/ebench/mobile_manip/dishwasher/036/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/036/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/036/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/036/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..a6fdc8d6701c5e9b8607c042a50a5116e0e306df --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/036/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3fef1ea2ecdfba4c1d8a209de1de4a5ba48275b7a0d5b60cf7f5d6c9efef5e09 +size 11701 diff --git a/tasks/ebench/mobile_manip/dishwasher/037/config.yaml b/tasks/ebench/mobile_manip/dishwasher/037/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/037/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/037/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/037/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..5f0fde2253c5f33c9b56612aa5440bc77f027dd5 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/037/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:370032403c1c68f992158a839d6f85418eda6ffae4c2601dea3b2d7cdc2f3561 +size 11709 diff --git a/tasks/ebench/mobile_manip/dishwasher/038/config.yaml b/tasks/ebench/mobile_manip/dishwasher/038/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/038/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/038/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/038/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..80813ad872c27c5c2e92e3f34fd88629e6638153 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/038/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e38d86200d48c4e3222ec2ae41e1c92400c7586299eeac7702be81498d4d8ea7 +size 11713 diff --git a/tasks/ebench/mobile_manip/dishwasher/041/config.yaml b/tasks/ebench/mobile_manip/dishwasher/041/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/041/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/041/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/041/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..65dadfb89b52b616edb3909c7a044a4aaa561369 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/041/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:96a8f28a25689601340bacf39393b9502e21b16ab4a6c940d793a4c867d993fd +size 11707 diff --git a/tasks/ebench/mobile_manip/dishwasher/042/config.yaml b/tasks/ebench/mobile_manip/dishwasher/042/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/042/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/042/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/042/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..7278548a515047858b87b00751edfb33ffd9a02a --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/042/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:306ed8fc437cbd771011639480e2df3bf6e9b6cb24ab5d21b60d6eaf9efaea6a +size 11715 diff --git a/tasks/ebench/mobile_manip/dishwasher/043/config.yaml b/tasks/ebench/mobile_manip/dishwasher/043/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/043/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/043/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/043/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..22b1818762e38e95322caed6bc2ad99ef21ec453 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/043/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e39f0c365adda799b8162817bbdf53362c82da0019f0255778f1526e431120d9 +size 11719 diff --git a/tasks/ebench/mobile_manip/dishwasher/044/config.yaml b/tasks/ebench/mobile_manip/dishwasher/044/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/044/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/044/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/044/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..b9035886dcab64764c1fef49051355d377a1a008 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/044/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da77704216d716f5aaeec7ad306d079250d5a2692245fb0e384dc32b02bda575 +size 11723 diff --git a/tasks/ebench/mobile_manip/dishwasher/046/config.yaml b/tasks/ebench/mobile_manip/dishwasher/046/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/046/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/046/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/046/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..15c19fd007d7730f813d77498fdb47941c4b24f4 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/046/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f7d496e6936c7c79d9c765ee5a9641e0683160ba2b031fe921edd12a5bd592e +size 11706 diff --git a/tasks/ebench/mobile_manip/dishwasher/047/config.yaml b/tasks/ebench/mobile_manip/dishwasher/047/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/047/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/047/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/047/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..968c3539eb3bf322842eeafbbb5c47d40d18f065 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/047/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:17e387afd8f024e7fa480a852f58655d6bab5dc6a74486866affb5df72ada5bc +size 11706 diff --git a/tasks/ebench/mobile_manip/dishwasher/048/config.yaml b/tasks/ebench/mobile_manip/dishwasher/048/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/048/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/048/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/048/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..0d0063d69d006385c0b53d148c010774006c2f81 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/048/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d131b2eff35c8e87af4fa18aa732d8dadcf365de9d17d9a5cfcc9b8504f6628 +size 11706 diff --git a/tasks/ebench/mobile_manip/dishwasher/049/config.yaml b/tasks/ebench/mobile_manip/dishwasher/049/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/049/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/049/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/049/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..a84e22cd9798bdd46be33f918242b0e026f4fdd4 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/049/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f6d5545cb411cf3cf5b9d6e99df947227deac978f50125e4ba312d2a57d070e +size 11706 diff --git a/tasks/ebench/mobile_manip/dishwasher/050/config.yaml b/tasks/ebench/mobile_manip/dishwasher/050/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/050/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/050/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/050/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..680c73be8d0b68cca2c2a78d3c2105d5176ddb39 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/050/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a7f09a1e233293697d4a1bd543e707cb60e7dd811891bee9cf34e503d42f82ba +size 11702 diff --git a/tasks/ebench/mobile_manip/dishwasher/051/config.yaml b/tasks/ebench/mobile_manip/dishwasher/051/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/051/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/051/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/051/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..fcf574a1fe66c51aedd5973bec6c2d3b94f650c3 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/051/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a74bbf996181b3acc3bf9a8452440c25015d7d3969fa57722e4928b74b3bfb7 +size 11702 diff --git a/tasks/ebench/mobile_manip/dishwasher/052/config.yaml b/tasks/ebench/mobile_manip/dishwasher/052/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/052/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/052/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/052/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..7471ec943a9e687de020aaa99350b034543467cf --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/052/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c62a606910bc1c4bc773284b4d2731b86148b084658b45846e0d8fa4c746435 +size 11702 diff --git a/tasks/ebench/mobile_manip/dishwasher/053/config.yaml b/tasks/ebench/mobile_manip/dishwasher/053/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/053/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/053/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/053/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..c737eaab6da2470b24a1129b0a74e62fbbc61fa2 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/053/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e57b816ba8ba84d76d84741a3cbbc8c6e1cc96dc0bbf1ae11b83ac0d5eb62e9f +size 11702 diff --git a/tasks/ebench/mobile_manip/dishwasher/054/config.yaml b/tasks/ebench/mobile_manip/dishwasher/054/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/054/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/054/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/054/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..f17d2ca85ff1f636b5a7ee1ceabbae71fb5bdefd --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/054/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0403bd389944a224735c77de0370ab74e308890dc630c8f1c4de861500d2b0a3 +size 11702 diff --git a/tasks/ebench/mobile_manip/dishwasher/055/config.yaml b/tasks/ebench/mobile_manip/dishwasher/055/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/055/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/055/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/055/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..40325f11ba2ec5a447555e74c94040904b7cfd85 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/055/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a55c7f9a74acf196e8b7836e075481cbed198320d2e3f9df5ec3be84b26daee +size 11718 diff --git a/tasks/ebench/mobile_manip/dishwasher/056/config.yaml b/tasks/ebench/mobile_manip/dishwasher/056/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/056/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/056/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/056/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..253a1a1ba54fe06d5edffc14b995aad278fa66b8 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/056/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce46cacc808f8c84fc9cbd5a8f8cfa43e4adcdd4eddbfe1c3c7bb8c2700cb84d +size 11718 diff --git a/tasks/ebench/mobile_manip/dishwasher/057/config.yaml b/tasks/ebench/mobile_manip/dishwasher/057/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher/057/config.yaml @@ -0,0 +1,394 @@ +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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher/057/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher/057/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..9457991830ba7c8a584b0ff625a61604c6f6f867 --- /dev/null +++ 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/World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + 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: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/000/meta_info.pkl b/tasks/ebench/mobile_manip/microwave/000/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..20396701482c5570c3f7a5466cd7d97bcf6ae5c9 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/000/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a369daabf9c0966baf6886ad90c83301745f071ce02585a1cb8a26a9f2e78c06 +size 9678 diff --git a/tasks/ebench/mobile_manip/microwave/001/lmdb/data.mdb b/tasks/ebench/mobile_manip/microwave/001/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..21c3786b6c0a69add4250d4825d02f569c8b9d3e --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/001/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca11377c05dd2b9e970e49548fe179aaf3234521b92f995712d98216c0cb2f56 +size 5378048 diff --git a/tasks/ebench/mobile_manip/microwave/001/lmdb/info.json b/tasks/ebench/mobile_manip/microwave/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave/002/config.yaml b/tasks/ebench/mobile_manip/microwave/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/002/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + 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: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/002/meta_info.pkl b/tasks/ebench/mobile_manip/microwave/002/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..0253eec7d28d30d02b75d03f7ac13ddc9db7f407 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/002/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e263435540cfed4474d67becb0d7904f7750b42dbe70d8931ecab31be34ea073 +size 9679 diff --git a/tasks/ebench/mobile_manip/microwave/003/config.yaml b/tasks/ebench/mobile_manip/microwave/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/003/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + 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: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/003/meta_info.pkl b/tasks/ebench/mobile_manip/microwave/003/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..a570f0cb966f49557486803654792dcf19a6d17c --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/003/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e949a31dd5969997183db11a99f1fc52a6021650d0b43eaad42c8668a874e7ad +size 9678 diff --git a/tasks/ebench/mobile_manip/microwave/004/config.yaml b/tasks/ebench/mobile_manip/microwave/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/004/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + 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: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/004/meta_info.pkl b/tasks/ebench/mobile_manip/microwave/004/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..4e3f892812d006cdc1aaf6a3211b9e7e4a97291e --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/004/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7db220284e99c1df9b97f782efb528178cc11044c46f0a380d242b34bfd5f349 +size 9676 diff --git a/tasks/ebench/mobile_manip/microwave/005/config.yaml b/tasks/ebench/mobile_manip/microwave/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/005/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + 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: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/005/meta_info.pkl b/tasks/ebench/mobile_manip/microwave/005/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..1247b40441dd3c3ac51580aa2abab392752039d0 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/005/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f22e0a9420c079a4abf1845d1443ab02c1e6858821f51ffe5de9589c6dd4d6d +size 9679 diff --git a/tasks/ebench/mobile_manip/microwave/006/config.yaml b/tasks/ebench/mobile_manip/microwave/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/006/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + 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: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/006/meta_info.pkl b/tasks/ebench/mobile_manip/microwave/006/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..357c20013103ce72be3b0627c868bec9ac52f1f6 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/006/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76e0b63015e64fde12405362cf101b32f1ada6f47722804856cf1f3e9869c1b5 +size 9678 diff --git a/tasks/ebench/mobile_manip/microwave/007/config.yaml b/tasks/ebench/mobile_manip/microwave/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/007/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + 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: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/007/meta_info.pkl b/tasks/ebench/mobile_manip/microwave/007/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..1a9dcb8582b43dce5454765a3dd4e2472ba13ed5 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/007/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be7c90d2dcefebdd88744e44818c305a953d9b9cc1a536dc32bbc14a4796b32a +size 9676 diff --git a/tasks/ebench/mobile_manip/microwave/008/config.yaml b/tasks/ebench/mobile_manip/microwave/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/008/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + 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: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/008/meta_info.pkl b/tasks/ebench/mobile_manip/microwave/008/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..f8d5ddf8686ec40933b281d83d5a3a23dd59a7d9 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/008/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df7ab2df9ece619ef360c071842ef109e75cb6ae61c3968f2b2503a2fa0ec080 +size 9679 diff --git a/tasks/ebench/mobile_manip/microwave/009/config.yaml b/tasks/ebench/mobile_manip/microwave/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/009/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + 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: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/009/meta_info.pkl b/tasks/ebench/mobile_manip/microwave/009/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..a5119de527cfda36ab597aaa76b49bca61f705a4 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/009/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd929ec959ebed95f699eaa04e3c422bbc02ae836d2efbcdbc38e217ae76277d +size 9678 diff --git a/tasks/ebench/mobile_manip/microwave/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave/011/config.yaml b/tasks/ebench/mobile_manip/microwave/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/011/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + 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: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/011/meta_info.pkl b/tasks/ebench/mobile_manip/microwave/011/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..b3047b5ec2d93c936f2d25a6374469138474e32f --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/011/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf7b2ef56db8af337431c6e868a90dd18c0bff3361bd6cbc2dd4009ba6aaebb5 +size 9679 diff --git a/tasks/ebench/mobile_manip/microwave/012/config.yaml b/tasks/ebench/mobile_manip/microwave/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/012/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + 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: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/012/meta_info.pkl b/tasks/ebench/mobile_manip/microwave/012/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..f30972a21183d240b1dbcd6a6d4d4faba9c7a93e --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/012/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea159e24ca5e3bad0fe367271bed424a8fc89e7e8778e07dacbd8199367e7377 +size 9678 diff --git a/tasks/ebench/mobile_manip/microwave/013/config.yaml b/tasks/ebench/mobile_manip/microwave/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/013/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + 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: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/013/meta_info.pkl b/tasks/ebench/mobile_manip/microwave/013/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..b9673d55a431fe324dd66802d0126f2a1d254840 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/013/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:73e6861853d03e9851aa651c16544c5bf7a05daadbacbb457e162b9f5e125948 +size 9676 diff --git a/tasks/ebench/mobile_manip/microwave/014/config.yaml b/tasks/ebench/mobile_manip/microwave/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/014/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + 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: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/014/meta_info.pkl b/tasks/ebench/mobile_manip/microwave/014/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..94b74b404dff85cd3ff34514ef3547eaf11bf033 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/014/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a049547402d77de0901a12809fbacecd1a0def1a3d2129205e5ab5c74494506 +size 9679 diff --git a/tasks/ebench/mobile_manip/microwave/015/config.yaml b/tasks/ebench/mobile_manip/microwave/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/015/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + 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: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/015/meta_info.pkl b/tasks/ebench/mobile_manip/microwave/015/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..ae17d93672a71bed45ea49478087c124b233ad5b --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/015/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c2c6c4f6bab9a702a802b440207643fbabce25448ec6f30f48ed873660af427e +size 9870 diff --git a/tasks/ebench/mobile_manip/microwave/016/lmdb/data.mdb b/tasks/ebench/mobile_manip/microwave/016/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c39d437d7cc29e9721b5f69acc2e3617294750bb --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/016/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b433ccdfe5340b42d814d547ca0c00fb957f9d1823f4ef793ff50150fe904b6 +size 5324800 diff --git a/tasks/ebench/mobile_manip/microwave/016/lmdb/info.json b/tasks/ebench/mobile_manip/microwave/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/016/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/016/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave/016/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave/017/config.yaml b/tasks/ebench/mobile_manip/microwave/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/017/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + 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: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/017/meta_info.pkl b/tasks/ebench/mobile_manip/microwave/017/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..05d8feb831cbe65a498d5db1775fd178b59f4d3d --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/017/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4774e44de2ab0bc9c7d8e369da40e99c4f430a82235e01a7eaae0c0a3e3d2509 +size 9870 diff --git a/tasks/ebench/mobile_manip/microwave/018/config.yaml b/tasks/ebench/mobile_manip/microwave/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/018/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + 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: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/018/meta_info.pkl b/tasks/ebench/mobile_manip/microwave/018/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..89d9bcc4d412fe8079dd6cb1ca5ed3c98a2c7429 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/018/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ad0986821244f16f5b1d40eb23ae71177c47424bd220981dba5821bb21341ad +size 9869 diff --git a/tasks/ebench/mobile_manip/microwave/019/config.yaml b/tasks/ebench/mobile_manip/microwave/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/019/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + 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: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/019/meta_info.pkl b/tasks/ebench/mobile_manip/microwave/019/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..bc364be37ebac876e356838192503ce84dcdc17a --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/019/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1bfff80d79c228adcfccdb43726b6feb60b570aabecf5537811fc9ce7ecc6a4c +size 9881 diff --git a/tasks/ebench/mobile_manip/microwave/020/lmdb/info.json b/tasks/ebench/mobile_manip/microwave/020/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null 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0000000000000000000000000000000000000000..16dd2f3d300326842fb045c3713294bd406c3704 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/023/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3cf83d1bdaa4e41bfa039ba1eed94b9cca1035a91dc0a2785e08e2de93fc4bce +size 5369856 diff --git a/tasks/ebench/mobile_manip/microwave/023/lmdb/info.json b/tasks/ebench/mobile_manip/microwave/023/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/023/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/023/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/023/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave/023/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave/024/config.yaml b/tasks/ebench/mobile_manip/microwave/024/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/024/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + 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: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/024/meta_info.pkl b/tasks/ebench/mobile_manip/microwave/024/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..0706be491a43d24032c2ba67972cbe77ef012853 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/024/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:85fa005dd46a17b7ecc590c0afbd28fe47e1bef46ea7368cee79ea9515e8a2bd +size 9881 diff --git a/tasks/ebench/mobile_manip/microwave/025/lmdb/data.mdb b/tasks/ebench/mobile_manip/microwave/025/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..21c3786b6c0a69add4250d4825d02f569c8b9d3e --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/025/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca11377c05dd2b9e970e49548fe179aaf3234521b92f995712d98216c0cb2f56 +size 5378048 diff --git a/tasks/ebench/mobile_manip/microwave/025/lmdb/info.json b/tasks/ebench/mobile_manip/microwave/025/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/025/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/025/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/025/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave/025/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave/026/config.yaml b/tasks/ebench/mobile_manip/microwave/026/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/026/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + 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: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/026/meta_info.pkl b/tasks/ebench/mobile_manip/microwave/026/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..b91ed21a271fe58dc795c957bcfe2f9916c5c79b --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/026/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e23e14fa2f9fc824e661b173fb4fa52e90df8ecfae9a94dbbc29544efcb31b23 +size 9874 diff --git a/tasks/ebench/mobile_manip/microwave/027/lmdb/data.mdb b/tasks/ebench/mobile_manip/microwave/027/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2afc4171d59f75146ae5514153d30529bc947f93 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/027/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fa59c686a6d5b9880c0f524c8fb3bc8bdafc59abe5abc46901751023e57d9036 +size 5369856 diff --git a/tasks/ebench/mobile_manip/microwave/027/lmdb/info.json b/tasks/ebench/mobile_manip/microwave/027/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/027/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/027/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/027/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave/027/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave/028/config.yaml b/tasks/ebench/mobile_manip/microwave/028/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/028/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + 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: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/028/meta_info.pkl b/tasks/ebench/mobile_manip/microwave/028/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..b1d69b75e74127723e2da16597ccb773096b744c --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/028/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb42c50931b5780699fdc8aca2f1fb366e6dd3ad9b238ae4e3161c93b282ae76 +size 9869 diff --git a/tasks/ebench/mobile_manip/microwave/029/config.yaml b/tasks/ebench/mobile_manip/microwave/029/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/029/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + 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: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/029/meta_info.pkl b/tasks/ebench/mobile_manip/microwave/029/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..cb0bdcea83ec34c51f579a304f2b9d17ac4c849d --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/029/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46b7e2f6566828e891559281848d3eba998ef24e59bfd30a74409631d4250c55 +size 9881 diff --git a/tasks/ebench/mobile_manip/microwave/030/config.yaml b/tasks/ebench/mobile_manip/microwave/030/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/030/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + 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: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/030/meta_info.pkl b/tasks/ebench/mobile_manip/microwave/030/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..2a014eea3d07b6e86e25201c70a6bd1bc4b1eed9 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/030/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6062d49c6f9569470425ea71781f5d807df10bd4e93f45ae62a41143079c5a08 +size 9869 diff --git a/tasks/ebench/mobile_manip/microwave/031/config.yaml b/tasks/ebench/mobile_manip/microwave/031/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/031/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + 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: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/031/meta_info.pkl b/tasks/ebench/mobile_manip/microwave/031/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..3207a8ca5eaa99bdec2dece6a0fd985579cc7b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/031/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cff34414a72c9ecdcb721921eba3e0e8fb7a4ec1d68785817f24c74766c22ef0 +size 9869 diff --git a/tasks/ebench/mobile_manip/microwave/032/config.yaml b/tasks/ebench/mobile_manip/microwave/032/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/032/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + 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: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/032/meta_info.pkl b/tasks/ebench/mobile_manip/microwave/032/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..9fc5a10b70d0a574a706fac9f6c432fbf24d063d --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/032/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50442cd28f1be1ba6439046b86a7987b40e2eb5622b09b82c62edecc52135432 +size 9869 diff --git a/tasks/ebench/mobile_manip/microwave/033/config.yaml b/tasks/ebench/mobile_manip/microwave/033/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/033/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + 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: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/033/meta_info.pkl b/tasks/ebench/mobile_manip/microwave/033/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..6381f9e0a5ead506be68515c89247e45c1c9f624 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/033/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3150a60333015696434ee31c81b52ee8aa0c72d741985f5f802f6fc427a02058 +size 9869 diff --git a/tasks/ebench/mobile_manip/microwave/034/config.yaml b/tasks/ebench/mobile_manip/microwave/034/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/034/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + 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: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/034/meta_info.pkl b/tasks/ebench/mobile_manip/microwave/034/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..abab648395b7ac6dcd18316d70d21c53a9f1d469 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/034/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8606923b0d18f84505be157bc889d0da092f336f648bf77981e0cc0f0443fbfa +size 9869 diff --git a/tasks/ebench/mobile_manip/microwave/035/config.yaml b/tasks/ebench/mobile_manip/microwave/035/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/035/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + 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: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/035/meta_info.pkl b/tasks/ebench/mobile_manip/microwave/035/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..6e8144765ef3cb1eaf8b3815667ef376856a14f6 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/035/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a1c012f57f60b87a93754bfc68b1beee6fe2b99318d60a1b12fce6da0b800b8 +size 9867 diff --git a/tasks/ebench/mobile_manip/microwave/036/config.yaml b/tasks/ebench/mobile_manip/microwave/036/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/036/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + 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: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/036/meta_info.pkl b/tasks/ebench/mobile_manip/microwave/036/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..db055b4c7901e0ca09a5943fbb1cfcaba30591bf --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/036/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:164493d3c7648f41c0cbac6325ee3fa2629ff2b450f36c73e657070eccfda137 +size 9867 diff --git a/tasks/ebench/mobile_manip/microwave/037/config.yaml b/tasks/ebench/mobile_manip/microwave/037/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/037/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + 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: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/037/meta_info.pkl b/tasks/ebench/mobile_manip/microwave/037/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..c502f0b365d11416ce132aa3b2eee1a93f281151 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/037/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9238dd3dd757c8cfc7707eabfbcc66fd7a4a9bce7f3b393a459e94a126075372 +size 9867 diff --git a/tasks/ebench/mobile_manip/microwave/038/config.yaml b/tasks/ebench/mobile_manip/microwave/038/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/038/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + 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: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/038/meta_info.pkl b/tasks/ebench/mobile_manip/microwave/038/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..b59e8d607d5b8a81681fa2f6edb20bdec60f7996 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/038/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18d765f7f7e45c4bb2e2d6c78a01fad7e969461a2de26faa87e5a32550264fad +size 9867 diff --git a/tasks/ebench/mobile_manip/microwave/039/lmdb/data.mdb b/tasks/ebench/mobile_manip/microwave/039/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..3451c0d64bb40d89b65333c9e193b89ff63c6344 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/039/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37c5d970eadcb0c3157bf485dd186df0c0830bd1513aac532f39eaac2d8794a7 +size 5394432 diff --git a/tasks/ebench/mobile_manip/microwave/039/lmdb/info.json b/tasks/ebench/mobile_manip/microwave/039/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/039/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/039/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/039/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave/039/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave/040/lmdb/data.mdb b/tasks/ebench/mobile_manip/microwave/040/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..21c3786b6c0a69add4250d4825d02f569c8b9d3e --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/040/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca11377c05dd2b9e970e49548fe179aaf3234521b92f995712d98216c0cb2f56 +size 5378048 diff --git a/tasks/ebench/mobile_manip/microwave/040/lmdb/info.json b/tasks/ebench/mobile_manip/microwave/040/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/040/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/040/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/040/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave/040/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave/041/config.yaml b/tasks/ebench/mobile_manip/microwave/041/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/041/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + 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: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/041/meta_info.pkl b/tasks/ebench/mobile_manip/microwave/041/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..0d44d86f58ec358d36457272775297dfd633a303 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/041/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca4c07c1f5ef3af680c4f7b7a1d448dd55f8968484fb11f4ef2c601e9d3c93b2 +size 9870 diff --git a/tasks/ebench/mobile_manip/microwave/042/config.yaml b/tasks/ebench/mobile_manip/microwave/042/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/042/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + 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: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/042/meta_info.pkl b/tasks/ebench/mobile_manip/microwave/042/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..c80b857c1abdb8dc794b9c837d688cab40f146a3 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/042/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d96f83a37f403d56f657ad7a4ceb3c9efe26b89431370c326f4f41dd449196e4 +size 9870 diff --git a/tasks/ebench/mobile_manip/microwave/043/config.yaml b/tasks/ebench/mobile_manip/microwave/043/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/043/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + 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: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/043/meta_info.pkl b/tasks/ebench/mobile_manip/microwave/043/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..8275d7e6a1a7d21ec2c286e5e2d163262426524e --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/043/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b626580dde077774e54f9ea5e930d1be43a9a40664dce9540c3a2f01f5f1b87 +size 9870 diff --git a/tasks/ebench/mobile_manip/microwave/044/config.yaml b/tasks/ebench/mobile_manip/microwave/044/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/044/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + 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: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git 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--git a/tasks/ebench/mobile_manip/shop/008/config.yaml b/tasks/ebench/mobile_manip/shop/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/008/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/008/meta_info.pkl b/tasks/ebench/mobile_manip/shop/008/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..0b205ebaa556b6e7fc9fca360cece15ba77147d5 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/008/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6aac9f9f6de660de2a1f174f117bc46b4dbec7045a64e03c37ae69ff429ea5c9 +size 24330 diff --git a/tasks/ebench/mobile_manip/shop/009/config.yaml b/tasks/ebench/mobile_manip/shop/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/009/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/009/meta_info.pkl b/tasks/ebench/mobile_manip/shop/009/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..199989d10caf1c56d106d8e13fc4c202c403e171 --- /dev/null +++ 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--git a/tasks/ebench/mobile_manip/shop/031/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop/031/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop/031/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop/032/config.yaml b/tasks/ebench/mobile_manip/shop/032/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/032/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/032/meta_info.pkl b/tasks/ebench/mobile_manip/shop/032/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..c42cfc7c4a12363d7dd1ca19c7a9f1cd85f0bdb9 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/032/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:896ff95cc29b1c809308c9f2d216bc286d52c068fa6b4a3bd42bee3656aca4fe +size 24320 diff --git a/tasks/ebench/mobile_manip/shop/035/lmdb/data.mdb b/tasks/ebench/mobile_manip/shop/035/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ebd67c867ceb738d61f16200c903a7630b518c41 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/035/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad728bf95eea34a79c78ff4c3a598e1c44a11ff07cf352c5e09786e7a5548f2d +size 23957504 diff --git a/tasks/ebench/mobile_manip/shop/035/lmdb/info.json b/tasks/ebench/mobile_manip/shop/035/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/035/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/035/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop/035/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop/035/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop/036/lmdb/data.mdb b/tasks/ebench/mobile_manip/shop/036/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d420250a257fb1b10bcec130036e5f949d002ec0 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/036/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a5b00455086d40bf400055d476f79874b89eb3fd709904028a2dc51a2330e583 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/dev/null and b/tasks/ebench/mobile_manip/shop/044/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop/045/lmdb/data.mdb b/tasks/ebench/mobile_manip/shop/045/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ebd67c867ceb738d61f16200c903a7630b518c41 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/045/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad728bf95eea34a79c78ff4c3a598e1c44a11ff07cf352c5e09786e7a5548f2d +size 23957504 diff --git a/tasks/ebench/mobile_manip/shop/045/lmdb/info.json b/tasks/ebench/mobile_manip/shop/045/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/045/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/045/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop/045/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop/045/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop/050/config.yaml b/tasks/ebench/mobile_manip/shop/050/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/050/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/050/meta_info.pkl b/tasks/ebench/mobile_manip/shop/050/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..693667c43a7541ee37fb622783bf719e82b37714 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/050/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5177e3348427853ef64c9291abdc10ad5ca446018d6c528369ba0c80177353bf +size 24316 diff --git a/tasks/ebench/mobile_manip/shop/051/lmdb/data.mdb b/tasks/ebench/mobile_manip/shop/051/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d420250a257fb1b10bcec130036e5f949d002ec0 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/051/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a5b00455086d40bf400055d476f79874b89eb3fd709904028a2dc51a2330e583 +size 24055808 diff --git a/tasks/ebench/mobile_manip/shop/051/lmdb/info.json b/tasks/ebench/mobile_manip/shop/051/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/051/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/051/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop/051/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop/051/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop/053/lmdb/data.mdb b/tasks/ebench/mobile_manip/shop/053/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a1fde445cd501136d269886ff18ba40b7637bf28 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/053/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a5c4cc49aa2cf503b2bfdb4b337bf453a871485f96b5f9adbb2413a63d0248e +size 23883776 diff --git a/tasks/ebench/mobile_manip/shop/053/lmdb/info.json b/tasks/ebench/mobile_manip/shop/053/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/053/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/053/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop/053/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop/053/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop/055/lmdb/data.mdb b/tasks/ebench/mobile_manip/shop/055/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ebd67c867ceb738d61f16200c903a7630b518c41 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/055/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad728bf95eea34a79c78ff4c3a598e1c44a11ff07cf352c5e09786e7a5548f2d +size 23957504 diff --git a/tasks/ebench/mobile_manip/shop/055/lmdb/info.json b/tasks/ebench/mobile_manip/shop/055/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/055/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/055/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop/055/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop/055/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop/057/config.yaml b/tasks/ebench/mobile_manip/shop/057/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/057/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/057/meta_info.pkl b/tasks/ebench/mobile_manip/shop/057/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..37d94d9363892cd9f27e07fdfa539dce960e6533 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/057/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e972252c03cc34a36e29bbfbe444dcd1b76a85190e925496d2ae37566fedbb7 +size 24310 diff --git a/tasks/ebench/mobile_manip/shop/058/lmdb/data.mdb b/tasks/ebench/mobile_manip/shop/058/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a1fde445cd501136d269886ff18ba40b7637bf28 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/058/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a5c4cc49aa2cf503b2bfdb4b337bf453a871485f96b5f9adbb2413a63d0248e +size 23883776 diff --git a/tasks/ebench/mobile_manip/shop/058/lmdb/info.json b/tasks/ebench/mobile_manip/shop/058/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/058/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/058/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop/058/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop/058/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop/059/lmdb/data.mdb b/tasks/ebench/mobile_manip/shop/059/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..747419a84b9a01762444363e3bf0198c82b1a219 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/059/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e01f57f8ba602626f72b878ce126e406c6ec6ad2b0eb80dc1b7eca243c51c91 +size 23797760 diff --git a/tasks/ebench/mobile_manip/shop/059/lmdb/info.json b/tasks/ebench/mobile_manip/shop/059/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop/059/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop/059/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop/059/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop/059/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_test_mini/000/config.yaml b/tasks/ebench/mobile_manip/shop_test_mini/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/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_test_mini/000/meta_info.pkl b/tasks/ebench/mobile_manip/shop_test_mini/000/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..2765a139ac93eb4a71de3c3abc5c2c5a08cca993 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/000/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e90702bb467f64254ab4f1ebae5215d33e902c10942111fcf90a01ee0575dc0d +size 24338 diff --git a/tasks/ebench/mobile_manip/shop_test_mini/001/config.yaml b/tasks/ebench/mobile_manip/shop_test_mini/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/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_test_mini/001/lmdb/data.mdb b/tasks/ebench/mobile_manip/shop_test_mini/001/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d420250a257fb1b10bcec130036e5f949d002ec0 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/001/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a5b00455086d40bf400055d476f79874b89eb3fd709904028a2dc51a2330e583 +size 24055808 diff --git a/tasks/ebench/mobile_manip/shop_test_mini/001/lmdb/info.json b/tasks/ebench/mobile_manip/shop_test_mini/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_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/shop_test_mini/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_test_mini/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_test_mini/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_test_mini/001/meta_info.pkl b/tasks/ebench/mobile_manip/shop_test_mini/001/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..4f1a31b799ab730263a90245c104596008cdd928 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/001/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d4e8ba25df9a6cf3eefba157974603d84852130f307ae86912027dbc20756379 +size 24341 diff --git a/tasks/ebench/mobile_manip/shop_test_mini/002/config.yaml b/tasks/ebench/mobile_manip/shop_test_mini/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/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_test_mini/002/meta_info.pkl b/tasks/ebench/mobile_manip/shop_test_mini/002/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..880e13b13fdeff708d84c1d60568c0b5c2a7b390 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/002/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b54077bac1555f626091108cd0668897383e9d21d356300bac509533a68a89f8 +size 24326 diff --git a/tasks/ebench/mobile_manip/shop_test_mini/003/config.yaml b/tasks/ebench/mobile_manip/shop_test_mini/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/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_test_mini/003/meta_info.pkl b/tasks/ebench/mobile_manip/shop_test_mini/003/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..3e4d6b599b54e00178e915bb49db1a69a929de15 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/003/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ee4773af13e4eee165ad9dd6c716c0b6212878f6a738d7c125718abfa28aa042 +size 24319 diff --git a/tasks/ebench/mobile_manip/shop_test_mini/004/config.yaml b/tasks/ebench/mobile_manip/shop_test_mini/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/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_test_mini/004/lmdb/data.mdb b/tasks/ebench/mobile_manip/shop_test_mini/004/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..747419a84b9a01762444363e3bf0198c82b1a219 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/004/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e01f57f8ba602626f72b878ce126e406c6ec6ad2b0eb80dc1b7eca243c51c91 +size 23797760 diff --git a/tasks/ebench/mobile_manip/shop_test_mini/004/lmdb/info.json b/tasks/ebench/mobile_manip/shop_test_mini/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_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/shop_test_mini/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_test_mini/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_test_mini/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_test_mini/004/meta_info.pkl b/tasks/ebench/mobile_manip/shop_test_mini/004/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..04d3ee46c0e81046b0d09c02ddfe943ff770d5cb --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/004/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df45482c904c33e1546ce716a2df652f7706bc27d7979523b2da9b44b4ce10a5 +size 24326 diff --git a/tasks/ebench/mobile_manip/shop_test_mini/005/config.yaml b/tasks/ebench/mobile_manip/shop_test_mini/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/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_test_mini/005/meta_info.pkl b/tasks/ebench/mobile_manip/shop_test_mini/005/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..5dc76df330dfa1f959a9c8d4b078951a7ba1cf39 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/005/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f7b70f2dc5412d199d86c5c2ecac5da25f18420422ab3a8cd6fecc715edf99c2 +size 24335 diff --git a/tasks/ebench/mobile_manip/shop_test_mini/006/config.yaml b/tasks/ebench/mobile_manip/shop_test_mini/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/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_test_mini/006/lmdb/data.mdb b/tasks/ebench/mobile_manip/shop_test_mini/006/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d420250a257fb1b10bcec130036e5f949d002ec0 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/006/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a5b00455086d40bf400055d476f79874b89eb3fd709904028a2dc51a2330e583 +size 24055808 diff --git a/tasks/ebench/mobile_manip/shop_test_mini/006/lmdb/info.json b/tasks/ebench/mobile_manip/shop_test_mini/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_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/shop_test_mini/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_test_mini/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_test_mini/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_test_mini/006/meta_info.pkl b/tasks/ebench/mobile_manip/shop_test_mini/006/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..698924b115f9828cb270eabd803cb7510f968db2 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/006/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46eb13a414b973c5df049ad1464310b00ca55eae29e7f0ef8b39911e8de492ea +size 24332 diff --git a/tasks/ebench/mobile_manip/shop_test_mini/007/config.yaml b/tasks/ebench/mobile_manip/shop_test_mini/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/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_test_mini/007/lmdb/data.mdb b/tasks/ebench/mobile_manip/shop_test_mini/007/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..82f436bad520bdaef1601242dfdfef881b796dbf --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/007/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b50f8b970fd329380af6749116c5f68961e4d6d7436f1310c14120a71d5d12e +size 23945216 diff --git a/tasks/ebench/mobile_manip/shop_test_mini/007/lmdb/info.json b/tasks/ebench/mobile_manip/shop_test_mini/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_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/shop_test_mini/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_test_mini/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_test_mini/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_test_mini/007/meta_info.pkl b/tasks/ebench/mobile_manip/shop_test_mini/007/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..99169365899ccba6b8940264c60580bff139dbc4 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/007/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e942dc2dc29fcde378e7852d5a129251c8aa177d5c78fa2a89aa476ae69a27ce +size 24321 diff --git a/tasks/ebench/mobile_manip/shop_test_mini/008/config.yaml b/tasks/ebench/mobile_manip/shop_test_mini/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/008/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_test_mini/008/meta_info.pkl b/tasks/ebench/mobile_manip/shop_test_mini/008/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..043a1daa48ce8a14d8f11aecc7b0267e22de3b3f --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/008/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f2032f72a22de51c0fabb790bd7199b76cc22554f713eb1a8ad3b8881c043f6 +size 24313 diff --git a/tasks/ebench/mobile_manip/shop_test_mini/009/config.yaml b/tasks/ebench/mobile_manip/shop_test_mini/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/009/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_test_mini/009/meta_info.pkl b/tasks/ebench/mobile_manip/shop_test_mini/009/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..8fa9bc270ad8dffe4d91772dcbb6b5f72b26bd84 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/009/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff639c6af996c0258876040a61841cbc4dbe364c02b95e84f1699a1646b82a5f +size 24317 diff --git a/tasks/ebench/mobile_manip/shop_test_mini/010/config.yaml b/tasks/ebench/mobile_manip/shop_test_mini/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/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_test_mini/010/lmdb/data.mdb b/tasks/ebench/mobile_manip/shop_test_mini/010/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ebd67c867ceb738d61f16200c903a7630b518c41 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/010/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad728bf95eea34a79c78ff4c3a598e1c44a11ff07cf352c5e09786e7a5548f2d +size 23957504 diff --git a/tasks/ebench/mobile_manip/shop_test_mini/010/lmdb/info.json b/tasks/ebench/mobile_manip/shop_test_mini/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_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/shop_test_mini/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_test_mini/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_test_mini/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_test_mini/010/meta_info.pkl b/tasks/ebench/mobile_manip/shop_test_mini/010/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..84240a0e4193bcfde02ed26c5b5044c49ca17e23 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/010/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:078baccd81f3e71f46e5d05609f737192870fbb2fc8cb2ae1468778100034401 +size 24302 diff --git a/tasks/ebench/mobile_manip/shop_test_mini/011/config.yaml b/tasks/ebench/mobile_manip/shop_test_mini/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/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_test_mini/011/lmdb/info.json b/tasks/ebench/mobile_manip/shop_test_mini/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_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/shop_test_mini/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_test_mini/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_test_mini/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_test_mini/011/meta_info.pkl b/tasks/ebench/mobile_manip/shop_test_mini/011/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..0f0217a0bce770a19659567a0b8e5e2085f1d8cf --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/011/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c48529a188f0da605bebab1e227f4329ca4fbe563f2b7a0dbbe57953f11f6ff +size 24306 diff --git a/tasks/ebench/mobile_manip/shop_test_mini/012/config.yaml b/tasks/ebench/mobile_manip/shop_test_mini/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/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_test_mini/012/lmdb/data.mdb b/tasks/ebench/mobile_manip/shop_test_mini/012/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..82f436bad520bdaef1601242dfdfef881b796dbf --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/012/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b50f8b970fd329380af6749116c5f68961e4d6d7436f1310c14120a71d5d12e +size 23945216 diff --git a/tasks/ebench/mobile_manip/shop_test_mini/012/lmdb/info.json b/tasks/ebench/mobile_manip/shop_test_mini/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_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/shop_test_mini/012/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_test_mini/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_test_mini/012/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_test_mini/012/meta_info.pkl b/tasks/ebench/mobile_manip/shop_test_mini/012/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..34773f4dd77038377ed0aadc8b0102231fe079f5 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/012/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cacba270118b914ab129d50c479299803995b2ffae90b14492de981c4baed360 +size 24312 diff --git a/tasks/ebench/mobile_manip/shop_test_mini/013/config.yaml b/tasks/ebench/mobile_manip/shop_test_mini/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/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_test_mini/013/lmdb/data.mdb b/tasks/ebench/mobile_manip/shop_test_mini/013/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a1fde445cd501136d269886ff18ba40b7637bf28 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/013/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a5c4cc49aa2cf503b2bfdb4b337bf453a871485f96b5f9adbb2413a63d0248e +size 23883776 diff --git a/tasks/ebench/mobile_manip/shop_test_mini/013/lmdb/info.json b/tasks/ebench/mobile_manip/shop_test_mini/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_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/shop_test_mini/013/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_test_mini/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_test_mini/013/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_test_mini/013/meta_info.pkl b/tasks/ebench/mobile_manip/shop_test_mini/013/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..fa3991b52fe10403631c07a548feba71a6fcc9e8 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/013/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50f822b4291f118f47ba41ebc8ab98b83a54ff08d38f56fd9713159c384062fc +size 24303 diff --git a/tasks/ebench/mobile_manip/shop_test_mini/014/config.yaml b/tasks/ebench/mobile_manip/shop_test_mini/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/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_test_mini/014/meta_info.pkl b/tasks/ebench/mobile_manip/shop_test_mini/014/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..a880eb00df82616bf7d53abafdd8c3e340362ec5 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/014/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:35bedce45a8391f0a5891cd325bce79ed5fc948aae51914516cb7d56f041593a +size 24308 diff --git a/tasks/ebench/mobile_manip/shop_test_mini/015/config.yaml b/tasks/ebench/mobile_manip/shop_test_mini/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/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_test_mini/015/lmdb/data.mdb b/tasks/ebench/mobile_manip/shop_test_mini/015/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ebd67c867ceb738d61f16200c903a7630b518c41 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/015/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad728bf95eea34a79c78ff4c3a598e1c44a11ff07cf352c5e09786e7a5548f2d +size 23957504 diff --git a/tasks/ebench/mobile_manip/shop_test_mini/015/lmdb/info.json b/tasks/ebench/mobile_manip/shop_test_mini/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_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/shop_test_mini/015/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_test_mini/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_test_mini/015/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_test_mini/015/meta_info.pkl b/tasks/ebench/mobile_manip/shop_test_mini/015/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..94213a550595ae7ae73a7383ff40d06b92f171cd --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/015/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3da2e8a836f74982307e1639e28b2024f9d432e3664163e40efe8d617be1508 +size 24311 diff --git a/tasks/ebench/mobile_manip/shop_test_mini/016/config.yaml b/tasks/ebench/mobile_manip/shop_test_mini/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/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_test_mini/016/lmdb/data.mdb b/tasks/ebench/mobile_manip/shop_test_mini/016/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d420250a257fb1b10bcec130036e5f949d002ec0 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/016/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a5b00455086d40bf400055d476f79874b89eb3fd709904028a2dc51a2330e583 +size 24055808 diff --git a/tasks/ebench/mobile_manip/shop_test_mini/016/lmdb/info.json b/tasks/ebench/mobile_manip/shop_test_mini/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_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/shop_test_mini/016/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_test_mini/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_test_mini/016/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_test_mini/016/meta_info.pkl b/tasks/ebench/mobile_manip/shop_test_mini/016/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..0102c58f4254db6805572fecf8b5c1a383dffdfa --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/016/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:61cc34ddf676f86da21965d0f5537ce89ca2b25555d5504be4118b7ed8d81bb4 +size 24311 diff --git a/tasks/ebench/mobile_manip/shop_test_mini/017/config.yaml b/tasks/ebench/mobile_manip/shop_test_mini/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/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_test_mini/017/meta_info.pkl b/tasks/ebench/mobile_manip/shop_test_mini/017/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..35121b9403c6ae1db0e57126e013204aa1f5b7d9 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/017/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79f5c400e70e00c563dd96d01c1fa9eb099d78bfbb4b5d1f6433e392b745d844 +size 24311 diff --git a/tasks/ebench/mobile_manip/shop_test_mini/018/config.yaml b/tasks/ebench/mobile_manip/shop_test_mini/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/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_test_mini/018/lmdb/data.mdb b/tasks/ebench/mobile_manip/shop_test_mini/018/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a1fde445cd501136d269886ff18ba40b7637bf28 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/018/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a5c4cc49aa2cf503b2bfdb4b337bf453a871485f96b5f9adbb2413a63d0248e +size 23883776 diff --git a/tasks/ebench/mobile_manip/shop_test_mini/018/lmdb/info.json b/tasks/ebench/mobile_manip/shop_test_mini/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_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/shop_test_mini/018/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_test_mini/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_test_mini/018/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_test_mini/018/meta_info.pkl b/tasks/ebench/mobile_manip/shop_test_mini/018/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..339bf91d6ee4c16a5f34aec766a35c45b3e63a5c --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/018/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2fe136970380b8b15cacb2d1854ae63db9754abdb78ea45d6bc05240910adff1 +size 24311 diff --git a/tasks/ebench/mobile_manip/shop_test_mini/019/config.yaml b/tasks/ebench/mobile_manip/shop_test_mini/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/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_test_mini/019/lmdb/data.mdb b/tasks/ebench/mobile_manip/shop_test_mini/019/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..747419a84b9a01762444363e3bf0198c82b1a219 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/019/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e01f57f8ba602626f72b878ce126e406c6ec6ad2b0eb80dc1b7eca243c51c91 +size 23797760 diff --git a/tasks/ebench/mobile_manip/shop_test_mini/019/lmdb/info.json b/tasks/ebench/mobile_manip/shop_test_mini/019/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/019/lmdb/info.json @@ -0,0 +1 @@ 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a/tasks/ebench/mobile_manip/soap_to_dish/057/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/057/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1e7a9f988bb8c1ba3d71476bb46817b9f2566193 Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/057/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/001/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95ab501de898cf6ade8bf626f3ca8ee6500a3ace --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/001/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_eval + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/001/meta_info.pkl b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/001/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..69842c31bb808f4d69be4fa8820d7cdca97c161c --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/001/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64148ef64681e1342b4d1a03f7c3562e476030574c9c6c83b0aa7f093039b14d +size 10895 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/004/lmdb/data.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/004/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..15b6a56180c3c9c1a20ed5a279e45a3a1a0162fb --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/004/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:10cc226ef818eecde1cd265dd1e641963861cf2438686dfefb2bc8251aa6a9c9 +size 4083712 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/006/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..288f47868af55a65af546a13c970b5f3a18ad54f --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/006/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_ready + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/006/meta_info.pkl b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/006/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..478eef923615fd2b1916dd254320b46d3e80b20b --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/006/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a2ad274829c36c58f0b6f65b3ae12e202443e8e3b90ae95c7e9d13435f9c45c +size 10894 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/007/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..288f47868af55a65af546a13c970b5f3a18ad54f --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/007/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_ready + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/007/meta_info.pkl b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/007/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..63bddde2ac7e7b797ea6a2682dcc9ee4b53e1824 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/007/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8abd6b3a89f8ca7ba2c06a27270ed0b8584664c05bba760b43900867e10a217c +size 10927 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/010/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95ab501de898cf6ade8bf626f3ca8ee6500a3ace --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/010/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_eval + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/010/meta_info.pkl b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/010/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..165429d8987444bba49ee5f0daba74833eabb053 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/010/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29ac3de1a01a14f45f127734a9591e012659ccc70b89e12ee595b44c10756c20 +size 10894 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/012/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95ab501de898cf6ade8bf626f3ca8ee6500a3ace --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/012/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_eval + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/012/meta_info.pkl b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/012/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..a069b2e48e6806455b516e059f677768aca13a32 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/012/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4c9d9e4da1b101b540c51f8b450eeb3c7f112d89530f933952390f33f6662db +size 10927 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/013/lmdb/data.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/013/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..54f7ffa41c347a5eb10752abeea013cdf38e1f9c --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/013/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f8e55d16c4bd4ca05f849900f66547731a02ee95330c6acb1547f266df09521 +size 4087808 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/015/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/015/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/015/meta_info.pkl b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/015/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..e727f6ebd6bd920dfd3b98b8a91b961c52ac37ea --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/015/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a2816946ec432fece1a4581160f7e64a24c63392bbfb1fe08b3ccf838b20e82 +size 12255 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/016/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/016/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/016/meta_info.pkl b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/016/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..8778668cd128074aa21c6fd19cdea4a1e60f4a14 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/016/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7b062c8161212fa777622960223a9f9cdac55f535888a9d4116b53dd46de05d +size 12255 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/018/lmdb/data.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/018/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..dd66e0f98fed165f47a599a0aae9a372605694ea --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/018/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c333cbe67308c919e287257a8b66d0e7ec8eb584c649a8d1118c9a6cc4b4bf7d +size 4030464 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/019/lmdb/data.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/019/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..dd66e0f98fed165f47a599a0aae9a372605694ea --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/019/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c333cbe67308c919e287257a8b66d0e7ec8eb584c649a8d1118c9a6cc4b4bf7d +size 4030464 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/020/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/020/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/020/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/020/meta_info.pkl b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/020/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..247e3d6bb11fbdab7b80acc2997921a463743874 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/020/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c377522d003a71217f87a0e2de4b2f03a012e7bcb4347a64b9e77f4a90ea912 +size 12235 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/021/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/021/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/021/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/021/meta_info.pkl b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/021/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..1af44019a45d38340f87aee1aa027dc895ccfac3 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/021/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e2d36e167b0257bc7ab8946d006797a1e17f48e78241fd6179d9f3045ed9a0d +size 12219 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/022/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/022/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/022/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/022/meta_info.pkl b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/022/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..c4971c46f8751fb218902bb49de749326d2d4f91 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/022/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f1481317b1ebad2edbef4400a2d95d69b2f4275521f587acd5a071303211c8c +size 12235 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/023/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/023/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/023/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/023/meta_info.pkl b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/023/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..f9648ea85d1b15d915cea4fc255540d6578d94f0 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/023/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:854307a5dec6585f07184dd467536c8baeb0bed450d93a4961b29dee379381db +size 12255 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/025/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/025/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/025/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/025/meta_info.pkl b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/025/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..cd0f8a5be77ebf91243be7aca8e57ac3b943fcd0 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/025/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ee34b8f07e00e5a38c547ce39a468a341f85edc5120eb2a95023938da80b8b80 +size 12235 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/026/lmdb/data.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/026/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d614c1a2155ac45a9a4b71b8a8bba94e4c35ff6a --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/026/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e98667966db35c12f081153fabeea364968d8c15437a073e350f6d4fcc4718d0 +size 4026368 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/027/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/027/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/027/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/027/meta_info.pkl b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/027/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..33368957ae69091528663c878aa1de8b1b71ca7e --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/027/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05bbf220fc8f8037a727fa21cade388361d0a008244c85bfa1a2f11bf7a63bd8 +size 12252 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/028/lmdb/data.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/028/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..f2fd43226841c2a3bc56deb21be2161d46fb1103 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/028/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c98436162e8efa05152a04f04378dc3546d4081d1474a0e51bb298d9414eed2 +size 4091904 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/034/lmdb/data.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/034/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8e25c38c1ea697c8b41d517e2fc7a85222810a85 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/034/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:563006aeb912f43fe6fa93552baca4eb3e4afdb52bba4b428efb638ac7dea7ae +size 4018176 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/035/lmdb/data.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/035/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..7f2cc2001c399f9d3436fbdb15d539f04f163bee --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/035/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e782bc795f96e3a4f3184592b1d9674a991f20ee46da2293b92923f8da6a1344 +size 4247552 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/036/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/036/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/036/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/036/meta_info.pkl b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/036/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..06defd2962658490041e3f2b278b1ede1145f9ac --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/036/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:65a97ba8aca7e430abbd6175eada628fc210061a7f7235a2e9dd32e84095fd7b +size 12266 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/038/lmdb/data.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/038/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8e25c38c1ea697c8b41d517e2fc7a85222810a85 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/038/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:563006aeb912f43fe6fa93552baca4eb3e4afdb52bba4b428efb638ac7dea7ae +size 4018176 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/039/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/039/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/039/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/039/meta_info.pkl b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/039/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..55954750cac4c4a32545477ce67693a60bd35cfe --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/039/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:44369e5e22c1b359294b80247d56e73919fffc6d0d5aa0b64ca95e271209651c +size 12351 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/040/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/040/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/040/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/040/meta_info.pkl b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/040/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..6dce54cd81b993cda7e4adaa4e55d4b95bcbdb27 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/040/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:767a5444518a422a9b3ca5968e502842299266cc2e543cc3603c9c7a8d73f9ce +size 12266 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/041/lmdb/data.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/041/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..7f2cc2001c399f9d3436fbdb15d539f04f163bee --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/041/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e782bc795f96e3a4f3184592b1d9674a991f20ee46da2293b92923f8da6a1344 +size 4247552 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/043/lmdb/data.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/043/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..f2fd43226841c2a3bc56deb21be2161d46fb1103 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/043/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c98436162e8efa05152a04f04378dc3546d4081d1474a0e51bb298d9414eed2 +size 4091904 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/044/lmdb/data.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/044/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..f2fd43226841c2a3bc56deb21be2161d46fb1103 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/044/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c98436162e8efa05152a04f04378dc3546d4081d1474a0e51bb298d9414eed2 +size 4091904 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/045/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/045/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95ab501de898cf6ade8bf626f3ca8ee6500a3ace --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/045/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_eval + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/045/meta_info.pkl b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/045/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..8c77d2b5e3fc78493246062de3823f1601213d48 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/045/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:808a360c4b07df63f2fd233b27191ea8a67bacecc35777e2338e25ef3e9b3de5 +size 10903 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/048/lmdb/data.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/048/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..697ef4e832c46c30fad54ca311953cbeff19a4b3 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/048/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0166904ba739680adac4dd6ad14808a7b2259953c3233decd547f93e3fab8ab1 +size 4030464 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/049/lmdb/data.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/049/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..697ef4e832c46c30fad54ca311953cbeff19a4b3 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/049/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0166904ba739680adac4dd6ad14808a7b2259953c3233decd547f93e3fab8ab1 +size 4030464 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/051/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/051/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95ab501de898cf6ade8bf626f3ca8ee6500a3ace --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/051/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_eval + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/051/meta_info.pkl b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/051/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..3e178c91531dc0a4656416109d141e5d4b05abfe --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/051/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:00c584bb663fa8717e32667f0036097764a6c576189c54a760a487791ec9f406 +size 10870 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/052/lmdb/data.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/052/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..08f1d1b4515a96767191b77c83969af28974ae64 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/052/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:14a0337d3dc5097c691888d7d7638c0dadc50461531b184644e5c532e14203ee +size 3989504 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/053/lmdb/data.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/053/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..08f1d1b4515a96767191b77c83969af28974ae64 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/053/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:14a0337d3dc5097c691888d7d7638c0dadc50461531b184644e5c532e14203ee +size 3989504 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/055/lmdb/data.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/055/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..08f1d1b4515a96767191b77c83969af28974ae64 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/055/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:14a0337d3dc5097c691888d7d7638c0dadc50461531b184644e5c532e14203ee +size 3989504 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/058/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/058/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95ab501de898cf6ade8bf626f3ca8ee6500a3ace --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/058/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_eval + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/058/meta_info.pkl b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/058/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..a188ca74ff75d10b86998fd40d3a143d1e188761 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/058/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:14d8121d91e4b078fd8167c9ec996bb2ec13a147bfdb4e993a56df91576939da +size 10852 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/059/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/059/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95ab501de898cf6ade8bf626f3ca8ee6500a3ace --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/059/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_eval + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/059/meta_info.pkl b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/059/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..0057258652d4d08bde4e8f90488f60c6a8fe5713 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray/059/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9edd709a10dfa2a6c1b1b9e452868896010fd65fcccd166b90a26ba6ad4cdd78 +size 10867 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/000/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a93169cf7d5b67468b203e288b8e14c0a7b278af --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/000/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_eval + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/000/lmdb/data.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/000/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..154e80907fddeae3684794e156a2669a6ffd1feb --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/000/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:07ac35cd886ca718315810e8ec31feb95d1075590c0220c9a27f768d0056e800 +size 3358720 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/000/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_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/utensils_to_holder_test_mini/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e952fc1f1cfb9fd73bc3455e36f94e4ceb2b835e Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/000/meta_info.pkl b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/000/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..05ece0fa01c9c368eefc97cb46d349e32b8ff97d --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/000/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:784ea48c2b9d1985806a128e6cfefb2236d8302f3b5088a5156c6d3cec60c4fd +size 7851 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/001/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a93169cf7d5b67468b203e288b8e14c0a7b278af --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/001/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_eval + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/001/lmdb/data.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/001/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..154e80907fddeae3684794e156a2669a6ffd1feb --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/001/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:07ac35cd886ca718315810e8ec31feb95d1075590c0220c9a27f768d0056e800 +size 3358720 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/001/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_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/utensils_to_holder_test_mini/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e952fc1f1cfb9fd73bc3455e36f94e4ceb2b835e Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/001/meta_info.pkl b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/001/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..d2a90b2ed1eddc7f493d77f22861abb341aa6528 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/001/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1add85d1375448eb38a5c04d68b0ec6095370726530f4eaf1a796a6c0b7b3607 +size 7851 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/002/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a93169cf7d5b67468b203e288b8e14c0a7b278af --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/002/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_eval + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/002/lmdb/data.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/002/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..97bb7b25ed75ab802bc983a843adafe4675d0c60 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/002/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed69a37b233649a99b07a7eaeb31a09cebe7079755928ec5c324956352a80455 +size 3440640 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/002/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_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/utensils_to_holder_test_mini/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e952fc1f1cfb9fd73bc3455e36f94e4ceb2b835e Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/002/meta_info.pkl b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/002/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..2fc336a80aeb9a4b562b1406b359a577b2d2ea99 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/002/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ddfe11dee7a31e3ad42116bfe186ee317ff3f670d290d41ef9f26836ccb5d2e4 +size 7851 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/003/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a93169cf7d5b67468b203e288b8e14c0a7b278af --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/003/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_eval + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/003/lmdb/data.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/003/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..eb83642b50db8c945eff5ba013579a2ca85050b6 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/003/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c13389d84c9008a36c67ac09091a5717af08b1aea63a456ac68bad95d14c95e0 +size 3334144 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/003/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_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/utensils_to_holder_test_mini/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e952fc1f1cfb9fd73bc3455e36f94e4ceb2b835e Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/003/meta_info.pkl b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/003/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..7f845084b9d12307266da6c2bcb19bd2859c01ca --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/003/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:16fffdf4aed119f269b6ce8d37bee70cf9624f138cf19b80a75488e43f3d8bf5 +size 7851 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/004/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a93169cf7d5b67468b203e288b8e14c0a7b278af --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/004/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_eval + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/004/lmdb/data.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/004/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..eb83642b50db8c945eff5ba013579a2ca85050b6 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/004/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c13389d84c9008a36c67ac09091a5717af08b1aea63a456ac68bad95d14c95e0 +size 3334144 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/004/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_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/utensils_to_holder_test_mini/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e952fc1f1cfb9fd73bc3455e36f94e4ceb2b835e Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/004/meta_info.pkl b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/004/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..0f95be3952c4a81277d9c1ef229ec8eab1dbde5f --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/004/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5062755eeacc23aa427023319a38f84e3cd9d0f90ecc0898bacbf5a91eff2099 +size 7851 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/005/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95306a6ac6519bfc773337b4538d06a5187ba5f8 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/005/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/train/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_train + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/005/lmdb/data.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/005/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4ad3e90a813d32a70e79212a5b1203e152406786 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/005/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:227ecbdf6013f637c9885e28ab2b6888c0ccff640ba654f8179757af42a90d4f +size 3158016 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/005/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_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/utensils_to_holder_test_mini/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..125f2f2e3bf4ecb139a35b8fe3fbff52d396617f Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/005/meta_info.pkl b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/005/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..a86300369ec8f3846cca3625632e83cd2161bdc5 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/005/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ef3dc41e7b4c079a28aa6ebacc8b79687211da3528d392ce4253c530f3ecc575 +size 8029 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/006/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95306a6ac6519bfc773337b4538d06a5187ba5f8 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/006/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/train/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_train + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/006/lmdb/data.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/006/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1365209f0efd73727e4e18699ce6c36595d0b302 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/006/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f0d4de5c74aed921690476aa18fc15713e64905d137c91d58b25b8fc78615520 +size 3493888 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/006/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_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/utensils_to_holder_test_mini/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..125f2f2e3bf4ecb139a35b8fe3fbff52d396617f Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/006/meta_info.pkl b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/006/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..bd5e560161f13ffc533102aa2b058f966f66277f --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/006/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:96be3b0c88b90ca4fdbb754cb2568b25d832cd4e8ad46e6342736699c2319ec3 +size 8030 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/007/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95306a6ac6519bfc773337b4538d06a5187ba5f8 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/007/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/train/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_train + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/007/lmdb/data.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/007/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..0fd1ae32050bca8b55ca4c4f2cc2957df8d0c80c --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/007/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94eb3e82f901e61db5257b4181761e124fe27654b362a4c84ceb39e853710c0b +size 3502080 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/007/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_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/utensils_to_holder_test_mini/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e9dd5ced35f6208422b20d9f39a82c82a03c1077 Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/007/meta_info.pkl b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/007/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..2e99c582173af678d45067438e09654f0336694b --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/007/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:181935bbc78292dbee69ae28d28b197c4b4b75f7c403ed1f32ee95ee41afd570 +size 8030 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/008/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95306a6ac6519bfc773337b4538d06a5187ba5f8 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/008/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/train/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_train + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/008/lmdb/data.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/008/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1f5dcf27c0cedd4ccd77251c7db952172c4b461c --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/008/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e9a5ac671feee3bead403fd2e56f3971b7fbaeee46d4e2bc43b19fe11771e2d5 +size 3211264 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/008/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_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/utensils_to_holder_test_mini/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e9dd5ced35f6208422b20d9f39a82c82a03c1077 Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/008/meta_info.pkl b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/008/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..946cf44f43e4f02f853997a5d6b38144cb44995e --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/008/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc863a4ffd4a81b2be4ef35b3aa117f42923eec73d3f59f09eee05582bc29a60 +size 8030 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/009/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95306a6ac6519bfc773337b4538d06a5187ba5f8 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/009/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/train/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_train + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/009/lmdb/data.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/009/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fcfbad0f7eb22a36b49d5c7ca4d38c45ad930848 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/009/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:85322504cedc144b66d5fda4b766d461fa25a92980c298e7d91fd0794728b629 +size 3248128 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/009/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..125f2f2e3bf4ecb139a35b8fe3fbff52d396617f Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/009/meta_info.pkl b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/009/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..6c2b232b030f78ce1c9f5b5986cf2cf187fde11e --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/009/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa4f2f18ccf2c4f247f2567c326e88ae421e6db647a6cd5bd2b42d1d9321c729 +size 8029 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/010/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95306a6ac6519bfc773337b4538d06a5187ba5f8 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/010/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/train/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_train + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/010/lmdb/data.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/010/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1365209f0efd73727e4e18699ce6c36595d0b302 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/010/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f0d4de5c74aed921690476aa18fc15713e64905d137c91d58b25b8fc78615520 +size 3493888 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/010/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_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/utensils_to_holder_test_mini/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..125f2f2e3bf4ecb139a35b8fe3fbff52d396617f Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/010/meta_info.pkl b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/010/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..9755fc74d5fc63d4619527f1fe3089e1d49bf772 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/010/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48bab2d227c1634b5d321a26529a904a22f5865032968f9ea48b2b4877419b4f +size 8047 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/011/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95306a6ac6519bfc773337b4538d06a5187ba5f8 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/011/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/train/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_train + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/011/lmdb/data.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/011/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4ad3e90a813d32a70e79212a5b1203e152406786 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/011/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:227ecbdf6013f637c9885e28ab2b6888c0ccff640ba654f8179757af42a90d4f +size 3158016 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/011/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_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/utensils_to_holder_test_mini/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..125f2f2e3bf4ecb139a35b8fe3fbff52d396617f Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/011/meta_info.pkl b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/011/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..fa0b92ebe985f2e70b78660e44a1fb3a630600e5 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/011/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:329fe4be819c6fcd1b4192021275b2493b36db9ca52e9cda25e2a4d8de3b1e20 +size 8046 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/012/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95306a6ac6519bfc773337b4538d06a5187ba5f8 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/012/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/train/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_train + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/012/lmdb/data.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/012/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..0fd1ae32050bca8b55ca4c4f2cc2957df8d0c80c --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/012/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94eb3e82f901e61db5257b4181761e124fe27654b362a4c84ceb39e853710c0b +size 3502080 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/012/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_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/utensils_to_holder_test_mini/012/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e9dd5ced35f6208422b20d9f39a82c82a03c1077 Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/012/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/012/meta_info.pkl b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/012/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..50338000bff0489869464b6c8d3ad202b463af26 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/012/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:30397d16ba37634c7e8291e5c702f42bf8141a7d4435bb7ba084d1a63bc28d26 +size 8047 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/013/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95306a6ac6519bfc773337b4538d06a5187ba5f8 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/013/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/train/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_train + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/013/lmdb/data.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/013/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4ad3e90a813d32a70e79212a5b1203e152406786 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/013/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:227ecbdf6013f637c9885e28ab2b6888c0ccff640ba654f8179757af42a90d4f +size 3158016 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/013/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_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/utensils_to_holder_test_mini/013/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..125f2f2e3bf4ecb139a35b8fe3fbff52d396617f Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/013/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/013/meta_info.pkl b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/013/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..27bcc9b2395aa312336e035e1701457776575acf --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/013/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9191cc29ed9f1828d4e995af213f23c2d8961132db401a4ae8fb7266e97463d7 +size 8046 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/014/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95306a6ac6519bfc773337b4538d06a5187ba5f8 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/014/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/train/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_train + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/014/lmdb/data.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/014/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fcfbad0f7eb22a36b49d5c7ca4d38c45ad930848 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/014/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:85322504cedc144b66d5fda4b766d461fa25a92980c298e7d91fd0794728b629 +size 3248128 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/014/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_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/utensils_to_holder_test_mini/014/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..125f2f2e3bf4ecb139a35b8fe3fbff52d396617f Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/014/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/014/meta_info.pkl b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/014/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..08a158bea98c95cc7800097331b99c6d2cf5f260 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/014/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b1a312df65159ba534fe48554152ff0d164a40a1b464b0a47729886051663019 +size 8046 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/015/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a93169cf7d5b67468b203e288b8e14c0a7b278af --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/015/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_eval + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/015/lmdb/data.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/015/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..03700308aebe31476580c390da60b5d968c73b60 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/015/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:96fd6208442e81d6b7e2beda1aa848c82c42baf5f5ae74f3f34ba93d1142dc3a +size 3276800 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/015/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_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/utensils_to_holder_test_mini/015/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e952fc1f1cfb9fd73bc3455e36f94e4ceb2b835e Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/015/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/015/meta_info.pkl b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/015/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..c4fd466501df831c51ab649a5789bf7a356abc55 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/015/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d972cc707fb79f59ba3ab5e6b6b9e17a411ecf7aab32e05c2960e034360cb111 +size 7842 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/016/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a93169cf7d5b67468b203e288b8e14c0a7b278af --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/016/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_eval + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/016/lmdb/data.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/016/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..154e80907fddeae3684794e156a2669a6ffd1feb --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/016/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:07ac35cd886ca718315810e8ec31feb95d1075590c0220c9a27f768d0056e800 +size 3358720 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/016/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_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/utensils_to_holder_test_mini/016/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e952fc1f1cfb9fd73bc3455e36f94e4ceb2b835e Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/016/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/016/meta_info.pkl b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/016/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..e414299c5a91bb387792c383c99c5218f8388cc1 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/016/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:889e88a788362b011f4c0091fb1096ae4cf7779a30f21e52ea741ca930c724c5 +size 7841 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/017/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a93169cf7d5b67468b203e288b8e14c0a7b278af --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/017/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_eval + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/017/lmdb/data.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/017/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..97bb7b25ed75ab802bc983a843adafe4675d0c60 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/017/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed69a37b233649a99b07a7eaeb31a09cebe7079755928ec5c324956352a80455 +size 3440640 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/017/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_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/utensils_to_holder_test_mini/017/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e952fc1f1cfb9fd73bc3455e36f94e4ceb2b835e Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/017/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/017/meta_info.pkl b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/017/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..0805783f3cd4475598ee84211b9e2b55b850d974 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/017/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:325fb06e3e215b94de233e4f270c45c52780f311a23c1661476e67a9c2f8062a +size 7841 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/018/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a93169cf7d5b67468b203e288b8e14c0a7b278af --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/018/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_eval + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/018/lmdb/data.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/018/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..97bb7b25ed75ab802bc983a843adafe4675d0c60 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/018/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed69a37b233649a99b07a7eaeb31a09cebe7079755928ec5c324956352a80455 +size 3440640 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/018/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_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/utensils_to_holder_test_mini/018/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e952fc1f1cfb9fd73bc3455e36f94e4ceb2b835e Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/018/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/018/meta_info.pkl b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/018/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..2ee5d1ef0ffe3d8d9e125d01d4aaceac31e931c4 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/018/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5b72ca5f8894a544f873fb6634521fc21bc94bfee8c88a87c5c723d244f277b +size 7841 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/019/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a93169cf7d5b67468b203e288b8e14c0a7b278af --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/019/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_eval + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/019/lmdb/data.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/019/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c10b0deffbf0c238098c94570679d5d2361d1ede --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/019/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:62ab6ad5e72bb0751a063ad6b03aa2180377cffb94161e343c66c7a55ea91479 +size 3280896 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/019/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/019/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_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/utensils_to_holder_test_mini/019/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/019/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e952fc1f1cfb9fd73bc3455e36f94e4ceb2b835e Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/019/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/019/meta_info.pkl b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/019/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..be61210129a75713646664c6d63574191d17d4bc --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_test_mini/019/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa05778589012315904acba0a45925ca8a68e9f5e9565aee085df5e691ab42f5 +size 7842