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Calvin-D

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  1. all_scale_D/scale_10/training/.hydra/config.yaml +151 -0
  2. all_scale_D/scale_10/training/.hydra/hydra.yaml +170 -0
  3. all_scale_D/scale_10/training/.hydra/merged_config.yaml +393 -0
  4. all_scale_D/scale_10/training/.hydra/overrides.yaml +5 -0
  5. all_scale_D/scale_10/training/ep_lens.npy +3 -0
  6. all_scale_D/scale_10/training/ep_start_end_ids.npy +3 -0
  7. all_scale_D/scale_10/training/episode_0358484.npz +3 -0
  8. all_scale_D/scale_10/training/lang_BERT/auto_lang_ann.npy +3 -0
  9. all_scale_D/scale_10/training/lang_all-MiniLM-L6-v2/auto_lang_ann.npy +3 -0
  10. all_scale_D/scale_10/training/lang_all-distilroberta-v1/auto_lang_ann.npy +3 -0
  11. all_scale_D/scale_10/training/lang_all-mpnet-base-v2/auto_lang_ann.npy +3 -0
  12. all_scale_D/scale_10/training/lang_annotations/auto_lang_ann.npy +3 -0
  13. all_scale_D/scale_10/training/lang_clip_ViTB32/auto_lang_ann.npy +3 -0
  14. all_scale_D/scale_10/training/lang_clip_resnet50/auto_lang_ann.npy +3 -0
  15. all_scale_D/scale_10/training/lang_huggingface_distilroberta/auto_lang_ann.npy +3 -0
  16. all_scale_D/scale_10/training/lang_huggingface_mpnet/auto_lang_ann.npy +3 -0
  17. all_scale_D/scale_10/training/lang_msmarco-bert-base-dot-v5/auto_lang_ann.npy +3 -0
  18. all_scale_D/scale_10/training/lang_paraphrase-MiniLM-L3-v2/auto_lang_ann.npy +3 -0
  19. all_scale_D/scale_10/training/scene_info.npy +3 -0
  20. all_scale_D/scale_10/training/statistics.yaml +21 -0
  21. all_scale_D/scale_10/validation/.hydra/config.yaml +151 -0
  22. all_scale_D/scale_10/validation/.hydra/hydra.yaml +170 -0
  23. all_scale_D/scale_10/validation/.hydra/merged_config.yaml +393 -0
  24. all_scale_D/scale_10/validation/.hydra/overrides.yaml +5 -0
  25. all_scale_D/scale_10/validation/ep_lens.npy +3 -0
  26. all_scale_D/scale_10/validation/ep_start_end_ids.npy +3 -0
  27. all_scale_D/scale_10/validation/episode_0358484.npz +3 -0
  28. all_scale_D/scale_10/validation/lang_BERT/auto_lang_ann.npy +3 -0
  29. all_scale_D/scale_10/validation/lang_BERT/embeddings.npy +3 -0
  30. all_scale_D/scale_10/validation/lang_all-MiniLM-L6-v2/auto_lang_ann.npy +3 -0
  31. all_scale_D/scale_10/validation/lang_all-MiniLM-L6-v2/embeddings.npy +3 -0
  32. all_scale_D/scale_10/validation/lang_all-distilroberta-v1/auto_lang_ann.npy +3 -0
  33. all_scale_D/scale_10/validation/lang_all-distilroberta-v1/embeddings.npy +3 -0
  34. all_scale_D/scale_10/validation/lang_all-mpnet-base-v2/auto_lang_ann.npy +3 -0
  35. all_scale_D/scale_10/validation/lang_all-mpnet-base-v2/embeddings.npy +3 -0
  36. all_scale_D/scale_10/validation/lang_annotations/auto_lang_ann.npy +3 -0
  37. all_scale_D/scale_10/validation/lang_annotations/embeddings.npy +3 -0
  38. all_scale_D/scale_10/validation/lang_clip_ViTB32/auto_lang_ann.npy +3 -0
  39. all_scale_D/scale_10/validation/lang_clip_ViTB32/embeddings.npy +3 -0
  40. all_scale_D/scale_10/validation/lang_clip_resnet50/auto_lang_ann.npy +3 -0
  41. all_scale_D/scale_10/validation/lang_clip_resnet50/embeddings.npy +3 -0
  42. all_scale_D/scale_10/validation/lang_huggingface_distilroberta/auto_lang_ann.npy +3 -0
  43. all_scale_D/scale_10/validation/lang_huggingface_distilroberta/embeddings.npy +3 -0
  44. all_scale_D/scale_10/validation/lang_huggingface_mpnet/auto_lang_ann.npy +3 -0
  45. all_scale_D/scale_10/validation/lang_huggingface_mpnet/embeddings.npy +3 -0
  46. all_scale_D/scale_10/validation/lang_msmarco-bert-base-dot-v5/auto_lang_ann.npy +3 -0
  47. all_scale_D/scale_10/validation/lang_msmarco-bert-base-dot-v5/embeddings.npy +3 -0
  48. all_scale_D/scale_10/validation/lang_paraphrase-MiniLM-L3-v2/auto_lang_ann.npy +3 -0
  49. all_scale_D/scale_10/validation/lang_paraphrase-MiniLM-L3-v2/embeddings.npy +3 -0
  50. all_scale_D/scale_10/validation/statistics.yaml +21 -0
all_scale_D/scale_10/training/.hydra/config.yaml ADDED
@@ -0,0 +1,151 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ cameras:
2
+ static:
3
+ _target_: vr_env.camera.static_camera.StaticCamera
4
+ name: static
5
+ fov: 10
6
+ aspect: 1
7
+ nearval: 0.01
8
+ farval: 10
9
+ width: 200
10
+ height: 200
11
+ look_at:
12
+ - -0.026242351159453392
13
+ - -0.0302329882979393
14
+ - 0.3920000493526459
15
+ look_from:
16
+ - 2.871459009488717
17
+ - -2.166602199425597
18
+ - 2.555159848480571
19
+ up_vector:
20
+ - 0.4041403970338857
21
+ - 0.22629790978217404
22
+ - 0.8862616969685161
23
+ gripper:
24
+ _target_: vr_env.camera.gripper_camera.GripperCamera
25
+ name: gripper
26
+ fov: 75
27
+ aspect: 1
28
+ nearval: 0.01
29
+ farval: 2
30
+ width: 84
31
+ height: 84
32
+ tactile:
33
+ _target_: vr_env.camera.tactile_sensor.TactileSensor
34
+ name: tactile
35
+ width: 120
36
+ height: 160
37
+ digit_link_ids:
38
+ - 10
39
+ - 12
40
+ visualize_gui: false
41
+ config_path: conf/digit_sensor/config_digit.yml
42
+ load_dir: /work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/
43
+ data_path: data
44
+ save_dir: ???
45
+ show_gui: false
46
+ processes: 16
47
+ max_episode_frames: 1
48
+ save_body_infos: true
49
+ set_static_cam: false
50
+ env:
51
+ cameras: ${cameras}
52
+ show_gui: ${show_gui}
53
+ use_vr: false
54
+ scene:
55
+ _target_: vr_env.scene.play_table_scene.PlayTableScene
56
+ _recursive_: false
57
+ name: calvin_scene_A
58
+ data_path: ${data_path}
59
+ global_scaling: 0.8
60
+ euler_obs: ${robot.euler_obs}
61
+ robot_base_position:
62
+ - -0.34
63
+ - -0.46
64
+ - 0.24
65
+ robot_base_orientation:
66
+ - 0
67
+ - 0
68
+ - 0
69
+ robot_initial_joint_positions:
70
+ - -1.21779206
71
+ - 1.03987646
72
+ - 2.11978261
73
+ - -2.34205014
74
+ - -0.87015947
75
+ - 1.64119353
76
+ - 0.55344866
77
+ surfaces:
78
+ table:
79
+ - - 0.0
80
+ - -0.15
81
+ - 0.46
82
+ - - 0.35
83
+ - -0.03
84
+ - 0.46
85
+ slider_left:
86
+ - - -0.32
87
+ - 0.05
88
+ - 0.46
89
+ - - -0.16
90
+ - 0.12
91
+ - 0.46
92
+ slider_right:
93
+ - - -0.05
94
+ - 0.05
95
+ - 0.46
96
+ - - 0.13
97
+ - 0.12
98
+ - 0.46
99
+ objects:
100
+ fixed_objects:
101
+ table:
102
+ file: calvin_table_A/urdf/calvin_table_A.urdf
103
+ initial_pos:
104
+ - 0
105
+ - 0
106
+ - 0
107
+ initial_orn:
108
+ - 0
109
+ - 0
110
+ - 0
111
+ joints:
112
+ base__slide:
113
+ initial_state: 0
114
+ base__drawer:
115
+ initial_state: 0
116
+ buttons:
117
+ base__button:
118
+ initial_state: 0
119
+ effect: led
120
+ switches:
121
+ base__switch:
122
+ initial_state: 0
123
+ effect: lightbulb
124
+ lights:
125
+ lightbulb:
126
+ link: light_link
127
+ color:
128
+ - 1
129
+ - 1
130
+ - 0
131
+ - 1
132
+ led:
133
+ link: led_link
134
+ color:
135
+ - 0
136
+ - 1
137
+ - 0
138
+ - 1
139
+ movable_objects:
140
+ block_red:
141
+ file: blocks/block_red_middle.urdf
142
+ initial_pos: any
143
+ initial_orn: any
144
+ block_blue:
145
+ file: blocks/block_blue_small.urdf
146
+ initial_pos: any
147
+ initial_orn: any
148
+ block_pink:
149
+ file: blocks/block_pink_big.urdf
150
+ initial_pos: any
151
+ initial_orn: any
all_scale_D/scale_10/training/.hydra/hydra.yaml ADDED
@@ -0,0 +1,170 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ hydra:
2
+ run:
3
+ dir: /work/dlclarge2/meeso-lfp/calvin_data/task_A_A/
4
+ sweep:
5
+ dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
6
+ subdir: ${hydra.job.num}
7
+ launcher:
8
+ _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
9
+ sweeper:
10
+ _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
11
+ max_batch_size: null
12
+ help:
13
+ app_name: ${hydra.job.name}
14
+ header: '${hydra.help.app_name} is powered by Hydra.
15
+
16
+ '
17
+ footer: 'Powered by Hydra (https://hydra.cc)
18
+
19
+ Use --hydra-help to view Hydra specific help
20
+
21
+ '
22
+ template: '${hydra.help.header}
23
+
24
+ == Configuration groups ==
25
+
26
+ Compose your configuration from those groups (group=option)
27
+
28
+
29
+ $APP_CONFIG_GROUPS
30
+
31
+
32
+ == Config ==
33
+
34
+ Override anything in the config (foo.bar=value)
35
+
36
+
37
+ $CONFIG
38
+
39
+
40
+ ${hydra.help.footer}
41
+
42
+ '
43
+ hydra_help:
44
+ template: 'Hydra (${hydra.runtime.version})
45
+
46
+ See https://hydra.cc for more info.
47
+
48
+
49
+ == Flags ==
50
+
51
+ $FLAGS_HELP
52
+
53
+
54
+ == Configuration groups ==
55
+
56
+ Compose your configuration from those groups (For example, append hydra/job_logging=disabled
57
+ to command line)
58
+
59
+
60
+ $HYDRA_CONFIG_GROUPS
61
+
62
+
63
+ Use ''--cfg hydra'' to Show the Hydra config.
64
+
65
+ '
66
+ hydra_help: ???
67
+ hydra_logging:
68
+ version: 1
69
+ formatters:
70
+ colorlog:
71
+ (): colorlog.ColoredFormatter
72
+ format: '[%(cyan)s%(asctime)s%(reset)s][%(purple)sHYDRA%(reset)s] %(message)s'
73
+ handlers:
74
+ console:
75
+ class: logging.StreamHandler
76
+ formatter: colorlog
77
+ stream: ext://sys.stdout
78
+ root:
79
+ level: INFO
80
+ handlers:
81
+ - console
82
+ disable_existing_loggers: false
83
+ job_logging:
84
+ version: 1
85
+ formatters:
86
+ simple:
87
+ format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
88
+ colorlog:
89
+ (): colorlog.ColoredFormatter
90
+ format: '[%(cyan)s%(asctime)s%(reset)s][%(blue)s%(name)s%(reset)s][%(log_color)s%(levelname)s%(reset)s]
91
+ - %(message)s'
92
+ log_colors:
93
+ DEBUG: purple
94
+ INFO: green
95
+ WARNING: yellow
96
+ ERROR: red
97
+ CRITICAL: red
98
+ handlers:
99
+ console:
100
+ class: logging.StreamHandler
101
+ formatter: colorlog
102
+ stream: ext://sys.stdout
103
+ file:
104
+ class: logging.FileHandler
105
+ formatter: simple
106
+ filename: ${hydra.job.name}.log
107
+ root:
108
+ level: INFO
109
+ handlers:
110
+ - console
111
+ - file
112
+ disable_existing_loggers: false
113
+ env: {}
114
+ searchpath: []
115
+ callbacks: {}
116
+ output_subdir: .hydra
117
+ overrides:
118
+ hydra:
119
+ - hydra.run.dir=/work/dlclarge2/meeso-lfp/calvin_data/task_A_A/
120
+ task:
121
+ - load_dir=/work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/
122
+ - set_static_cam=false
123
+ - processes=16
124
+ - +scene=calvin_scene_A
125
+ - show_gui=false
126
+ job:
127
+ name: datarenderer
128
+ override_dirname: +scene=calvin_scene_A,load_dir=/work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/,processes=16,set_static_cam=false,show_gui=false
129
+ id: ???
130
+ num: ???
131
+ config_name: config_rendering
132
+ env_set: {}
133
+ env_copy: []
134
+ config:
135
+ override_dirname:
136
+ kv_sep: '='
137
+ item_sep: ','
138
+ exclude_keys: []
139
+ runtime:
140
+ version: 1.1.1
141
+ cwd: /home/meeso/VRENVCalvinRender/vr_env
142
+ config_sources:
143
+ - path: hydra.conf
144
+ schema: pkg
145
+ provider: hydra
146
+ - path: /home/meeso/VRENVCalvinRender/conf
147
+ schema: file
148
+ provider: main
149
+ - path: hydra_plugins.hydra_colorlog.conf
150
+ schema: pkg
151
+ provider: hydra-colorlog
152
+ - path: ''
153
+ schema: structured
154
+ provider: schema
155
+ choices:
156
+ scene: calvin_scene_A
157
+ cameras: static_gripper_tactile
158
+ cameras/cameras@cameras.tactile: tactile
159
+ cameras/cameras@cameras.gripper: gripper
160
+ cameras/cameras@cameras.static: static
161
+ hydra/env: default
162
+ hydra/callbacks: null
163
+ hydra/job_logging: colorlog
164
+ hydra/hydra_logging: colorlog
165
+ hydra/hydra_help: default
166
+ hydra/help: default
167
+ hydra/sweeper: basic
168
+ hydra/launcher: basic
169
+ hydra/output: default
170
+ verbose: false
all_scale_D/scale_10/training/.hydra/merged_config.yaml ADDED
@@ -0,0 +1,393 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ cameras:
2
+ static:
3
+ _target_: calvin_env.camera.static_camera.StaticCamera
4
+ name: static
5
+ fov: 10
6
+ aspect: 1
7
+ nearval: 0.01
8
+ farval: 10
9
+ width: 200
10
+ height: 200
11
+ look_at:
12
+ - -0.026242351159453392
13
+ - -0.0302329882979393
14
+ - 0.3920000493526459
15
+ look_from:
16
+ - 2.871459009488717
17
+ - -2.166602199425597
18
+ - 2.555159848480571
19
+ up_vector:
20
+ - 0.4041403970338857
21
+ - 0.22629790978217404
22
+ - 0.8862616969685161
23
+ gripper:
24
+ _target_: calvin_env.camera.gripper_camera.GripperCamera
25
+ name: gripper
26
+ fov: 75
27
+ aspect: 1
28
+ nearval: 0.01
29
+ farval: 2
30
+ width: 84
31
+ height: 84
32
+ tactile:
33
+ _target_: calvin_env.camera.tactile_sensor.TactileSensor
34
+ name: tactile
35
+ width: 120
36
+ height: 160
37
+ digit_link_ids:
38
+ - 10
39
+ - 12
40
+ visualize_gui: false
41
+ config_path: conf/digit_sensor/config_digit.yml
42
+ vr_input:
43
+ vr_controller:
44
+ POSITION: 1
45
+ ORIENTATION: 2
46
+ ANALOG: 3
47
+ BUTTONS: 6
48
+ BUTTON_A: 2
49
+ BUTTON_B: 1
50
+ vr_controller_id: 3
51
+ gripper_orientation_offset:
52
+ - 0
53
+ - 3
54
+ - 3.14
55
+ gripper_position_offset:
56
+ - -0.2
57
+ - 0.3
58
+ - 0
59
+ _target_: calvin_env.io_utils.vr_input.VrInput
60
+ limit_angle:
61
+ - 90
62
+ - 0
63
+ - 0
64
+ - -1
65
+ visualize_vr_pos: true
66
+ reset_button_queue_len: 60
67
+ env:
68
+ _target_: calvin_env.envs.play_table_env.PlayTableSimEnv
69
+ _recursive_: false
70
+ cameras: ${cameras}
71
+ seed: 0
72
+ bullet_time_step: 240.0
73
+ use_vr: false
74
+ show_gui: ${show_gui}
75
+ robot_cfg: ${robot}
76
+ scene_cfg: ${scene}
77
+ use_scene_info: false
78
+ use_egl: true
79
+ control_freq: 30
80
+ scene:
81
+ _target_: calvin_env.scene.play_table_scene.PlayTableScene
82
+ _recursive_: false
83
+ data_path: ${data_path}
84
+ global_scaling: 0.8
85
+ euler_obs: ${robot.euler_obs}
86
+ robot_base_position:
87
+ - -0.34
88
+ - -0.46
89
+ - 0.24
90
+ robot_base_orientation:
91
+ - 0
92
+ - 0
93
+ - 0
94
+ robot_initial_joint_positions:
95
+ - -1.21779206
96
+ - 1.03987646
97
+ - 2.11978261
98
+ - -2.34205014
99
+ - -0.87015947
100
+ - 1.64119353
101
+ - 0.55344866
102
+ surfaces:
103
+ table:
104
+ - - 0.0
105
+ - -0.15
106
+ - 0.46
107
+ - - 0.35
108
+ - -0.03
109
+ - 0.46
110
+ slider_left:
111
+ - - -0.32
112
+ - 0.05
113
+ - 0.46
114
+ - - -0.16
115
+ - 0.12
116
+ - 0.46
117
+ slider_right:
118
+ - - -0.05
119
+ - 0.05
120
+ - 0.46
121
+ - - 0.13
122
+ - 0.12
123
+ - 0.46
124
+ objects:
125
+ fixed_objects:
126
+ table:
127
+ file: calvin_table_D/urdf/calvin_table_D.urdf
128
+ initial_pos:
129
+ - 0
130
+ - 0
131
+ - 0
132
+ initial_orn:
133
+ - 0
134
+ - 0
135
+ - 0
136
+ joints:
137
+ base__slide:
138
+ initial_state: 0
139
+ base__drawer:
140
+ initial_state: 0
141
+ buttons:
142
+ base__button:
143
+ initial_state: 0
144
+ effect: led
145
+ switches:
146
+ base__switch:
147
+ initial_state: 0
148
+ effect: lightbulb
149
+ lights:
150
+ lightbulb:
151
+ link: light_link
152
+ color:
153
+ - 1
154
+ - 1
155
+ - 0
156
+ - 1
157
+ led:
158
+ link: led_link
159
+ color:
160
+ - 0
161
+ - 1
162
+ - 0
163
+ - 1
164
+ movable_objects:
165
+ block_red:
166
+ file: blocks/block_red_middle.urdf
167
+ initial_pos: any
168
+ initial_orn: any
169
+ block_blue:
170
+ file: blocks/block_blue_small.urdf
171
+ initial_pos: any
172
+ initial_orn: any
173
+ block_pink:
174
+ file: blocks/block_pink_big.urdf
175
+ initial_pos: any
176
+ initial_orn: any
177
+ name: calvin_scene_D
178
+ robot:
179
+ _target_: calvin_env.robot.robot.Robot
180
+ filename: franka_panda/panda_longer_finger.urdf
181
+ base_position: ${scene.robot_base_position}
182
+ base_orientation: ${scene.robot_base_orientation}
183
+ initial_joint_positions: ${scene.robot_initial_joint_positions}
184
+ max_joint_force: 200.0
185
+ gripper_force: 200
186
+ arm_joint_ids:
187
+ - 0
188
+ - 1
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+ - 2
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+ - 3
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+ - 4
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+ - 5
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+ - 6
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+ gripper_joint_ids:
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+ - 9
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+ - 11
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+ gripper_joint_limits:
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+ - 0
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+ - 0.04
200
+ tcp_link_id: 15
201
+ end_effector_link_id: 7
202
+ gripper_cam_link: 12
203
+ use_nullspace: true
204
+ max_velocity: 2
205
+ use_ik_fast: false
206
+ magic_scaling_factor_pos: 1
207
+ magic_scaling_factor_orn: 1
208
+ use_target_pose: true
209
+ euler_obs: true
210
+ tasks:
211
+ _target_: calvin_env.envs.tasks.Tasks
212
+ tasks:
213
+ rotate_red_block_right:
214
+ - rotate_object
215
+ - block_red
216
+ - -60
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+ rotate_red_block_left:
218
+ - rotate_object
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+ - block_red
220
+ - 60
221
+ rotate_blue_block_right:
222
+ - rotate_object
223
+ - block_blue
224
+ - -60
225
+ rotate_blue_block_left:
226
+ - rotate_object
227
+ - block_blue
228
+ - 60
229
+ rotate_pink_block_right:
230
+ - rotate_object
231
+ - block_pink
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+ - -60
233
+ rotate_pink_block_left:
234
+ - rotate_object
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+ - block_pink
236
+ - 60
237
+ push_red_block_right:
238
+ - push_object
239
+ - block_red
240
+ - 0.1
241
+ - 0
242
+ push_red_block_left:
243
+ - push_object
244
+ - block_red
245
+ - -0.1
246
+ - 0
247
+ push_blue_block_right:
248
+ - push_object
249
+ - block_blue
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+ - 0.1
251
+ - 0
252
+ push_blue_block_left:
253
+ - push_object
254
+ - block_blue
255
+ - -0.1
256
+ - 0
257
+ push_pink_block_right:
258
+ - push_object
259
+ - block_pink
260
+ - 0.1
261
+ - 0
262
+ push_pink_block_left:
263
+ - push_object
264
+ - block_pink
265
+ - -0.1
266
+ - 0
267
+ move_slider_left:
268
+ - move_door_rel
269
+ - base__slide
270
+ - 0.15
271
+ move_slider_right:
272
+ - move_door_rel
273
+ - base__slide
274
+ - -0.15
275
+ open_drawer:
276
+ - move_door_rel
277
+ - base__drawer
278
+ - 0.12
279
+ close_drawer:
280
+ - move_door_rel
281
+ - base__drawer
282
+ - -0.12
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+ lift_red_block_table:
284
+ - lift_object
285
+ - block_red
286
+ - 0.05
287
+ - table
288
+ - base_link
289
+ lift_red_block_slider:
290
+ - lift_object
291
+ - block_red
292
+ - 0.03
293
+ - table
294
+ - plank_link
295
+ lift_red_block_drawer:
296
+ - lift_object
297
+ - block_red
298
+ - 0.05
299
+ - table
300
+ - drawer_link
301
+ lift_blue_block_table:
302
+ - lift_object
303
+ - block_blue
304
+ - 0.05
305
+ - table
306
+ - base_link
307
+ lift_blue_block_slider:
308
+ - lift_object
309
+ - block_blue
310
+ - 0.03
311
+ - table
312
+ - plank_link
313
+ lift_blue_block_drawer:
314
+ - lift_object
315
+ - block_blue
316
+ - 0.05
317
+ - table
318
+ - drawer_link
319
+ lift_pink_block_table:
320
+ - lift_object
321
+ - block_pink
322
+ - 0.05
323
+ - table
324
+ - base_link
325
+ lift_pink_block_slider:
326
+ - lift_object
327
+ - block_pink
328
+ - 0.03
329
+ - table
330
+ - plank_link
331
+ lift_pink_block_drawer:
332
+ - lift_object
333
+ - block_pink
334
+ - 0.05
335
+ - table
336
+ - drawer_link
337
+ place_in_slider:
338
+ - place_object
339
+ - table
340
+ - plank_link
341
+ place_in_drawer:
342
+ - place_object
343
+ - table
344
+ - drawer_link
345
+ stack_block:
346
+ - stack_objects
347
+ unstack_block:
348
+ - unstack_objects
349
+ turn_on_lightbulb:
350
+ - toggle_light
351
+ - lightbulb
352
+ - 0
353
+ - 1
354
+ turn_off_lightbulb:
355
+ - toggle_light
356
+ - lightbulb
357
+ - 1
358
+ - 0
359
+ turn_on_led:
360
+ - toggle_light
361
+ - led
362
+ - 0
363
+ - 1
364
+ turn_off_led:
365
+ - toggle_light
366
+ - led
367
+ - 1
368
+ - 0
369
+ push_into_drawer:
370
+ - push_object_into
371
+ - - block_red
372
+ - block_blue
373
+ - block_pink
374
+ - table
375
+ - base_link
376
+ - table
377
+ - drawer_link
378
+ recorder:
379
+ record: ${record}
380
+ record_fps: 30.0
381
+ show_fps: false
382
+ enable_tts: true
383
+ seed: 0
384
+ use_vr: true
385
+ data_path: data
386
+ save_dir: /home/meeso/recordings
387
+ record: true
388
+ load_dir: /work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-09-12/11-36-05/
389
+ show_gui: false
390
+ processes: 16
391
+ max_episode_frames: 1
392
+ save_body_infos: true
393
+ set_static_cam: false
all_scale_D/scale_10/training/.hydra/overrides.yaml ADDED
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+ - set_static_cam=false
3
+ - processes=16
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+ - +scene=calvin_scene_A
5
+ - show_gui=false
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+ robot_obs:
2
+ - _target_: calvin_agent.utils.transforms.NormalizeVector
3
+ mean: [0.039233, -0.118554, 0.507826, 1.079174, -0.083069, 1.579753,
4
+ 0.054622, -0.736859, 1.017769, 1.792879, -2.099604, -0.993738,
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+ 1.790842, 0.586534, 0.095367]
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+ std: [0.150769, 0.1104 , 0.06253 , 2.883517, 0.126405, 0.377196,
7
+ 0.030152, 0.334392, 0.172714, 0.240513, 0.3842 , 0.198596,
8
+ 0.158712, 0.346865, 0.995442]
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+ scene_obs:
10
+ - _target_: calvin_agent.utils.transforms.NormalizeVector
11
+ mean: [0.150934, 0.119917, 0.000239, 0.042049, 0.487755, 0.47448 ,
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+ 0.057482, -0.088074, 0.431237, 0.046034, 0.030599, 0.027333,
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+ 0.062103, -0.092833, 0.430236, -0.054962, 0.019381, 0.096546,
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+ 0.064944, -0.093058, 0.428381, 0.024941, 0.002746, -0.031589]
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+ std: [ 0.125757, 0.09654 , 0.002148, 0.041916, 0.49985 , 0.499348,
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+ 0.146225, 0.119266, 0.050408, 1.430807, 0.676023, 2.017468,
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+ 0.142979, 0.113236, 0.049651, 1.545888, 0.3906 , 1.763569,
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+ 0.143077, 0.11546 , 0.050363, 1.514873, 0.431664, 1.860245]
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+
20
+ act_min_bound: [-0.432188, -0.545456, 0.293439, -3.141593, -0.811348, -3.141573, -1. ]
21
+ act_max_bound: [0.42977 , 0.139396, 0.796262, 3.141592, 0.638583, 3.141551, 1. ]
all_scale_D/scale_10/validation/.hydra/config.yaml ADDED
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1
+ cameras:
2
+ static:
3
+ _target_: vr_env.camera.static_camera.StaticCamera
4
+ name: static
5
+ fov: 10
6
+ aspect: 1
7
+ nearval: 0.01
8
+ farval: 10
9
+ width: 200
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+ height: 200
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+ look_at:
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+ - -0.026242351159453392
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+ - -0.0302329882979393
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+ - 0.3920000493526459
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+ look_from:
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+ - 2.871459009488717
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+ - -2.166602199425597
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+ - 2.555159848480571
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+ up_vector:
20
+ - 0.4041403970338857
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+ - 0.22629790978217404
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+ - 0.8862616969685161
23
+ gripper:
24
+ _target_: vr_env.camera.gripper_camera.GripperCamera
25
+ name: gripper
26
+ fov: 75
27
+ aspect: 1
28
+ nearval: 0.01
29
+ farval: 2
30
+ width: 84
31
+ height: 84
32
+ tactile:
33
+ _target_: vr_env.camera.tactile_sensor.TactileSensor
34
+ name: tactile
35
+ width: 120
36
+ height: 160
37
+ digit_link_ids:
38
+ - 10
39
+ - 12
40
+ visualize_gui: false
41
+ config_path: conf/digit_sensor/config_digit.yml
42
+ load_dir: /work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/
43
+ data_path: data
44
+ save_dir: ???
45
+ show_gui: false
46
+ processes: 16
47
+ max_episode_frames: 1
48
+ save_body_infos: true
49
+ set_static_cam: false
50
+ env:
51
+ cameras: ${cameras}
52
+ show_gui: ${show_gui}
53
+ use_vr: false
54
+ scene:
55
+ _target_: vr_env.scene.play_table_scene.PlayTableScene
56
+ _recursive_: false
57
+ name: calvin_scene_A
58
+ data_path: ${data_path}
59
+ global_scaling: 0.8
60
+ euler_obs: ${robot.euler_obs}
61
+ robot_base_position:
62
+ - -0.34
63
+ - -0.46
64
+ - 0.24
65
+ robot_base_orientation:
66
+ - 0
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+ - 0
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+ - 0
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+ robot_initial_joint_positions:
70
+ - -1.21779206
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+ - 1.03987646
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+ - 2.11978261
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+ - -2.34205014
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+ - -0.87015947
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+ - 1.64119353
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+ - 0.55344866
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+ surfaces:
78
+ table:
79
+ - - 0.0
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+ - -0.15
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+ - 0.46
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+ - - 0.35
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+ - -0.03
84
+ - 0.46
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+ slider_left:
86
+ - - -0.32
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+ - 0.05
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+ - 0.46
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+ - - -0.16
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+ - 0.12
91
+ - 0.46
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+ slider_right:
93
+ - - -0.05
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+ - 0.05
95
+ - 0.46
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+ - - 0.13
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+ - 0.12
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+ - 0.46
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+ objects:
100
+ fixed_objects:
101
+ table:
102
+ file: calvin_table_A/urdf/calvin_table_A.urdf
103
+ initial_pos:
104
+ - 0
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+ - 0
106
+ - 0
107
+ initial_orn:
108
+ - 0
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+ - 0
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+ - 0
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+ joints:
112
+ base__slide:
113
+ initial_state: 0
114
+ base__drawer:
115
+ initial_state: 0
116
+ buttons:
117
+ base__button:
118
+ initial_state: 0
119
+ effect: led
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+ switches:
121
+ base__switch:
122
+ initial_state: 0
123
+ effect: lightbulb
124
+ lights:
125
+ lightbulb:
126
+ link: light_link
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+ color:
128
+ - 1
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+ - 1
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+ - 0
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+ - 1
132
+ led:
133
+ link: led_link
134
+ color:
135
+ - 0
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+ - 1
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+ - 0
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+ - 1
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+ movable_objects:
140
+ block_red:
141
+ file: blocks/block_red_middle.urdf
142
+ initial_pos: any
143
+ initial_orn: any
144
+ block_blue:
145
+ file: blocks/block_blue_small.urdf
146
+ initial_pos: any
147
+ initial_orn: any
148
+ block_pink:
149
+ file: blocks/block_pink_big.urdf
150
+ initial_pos: any
151
+ initial_orn: any
all_scale_D/scale_10/validation/.hydra/hydra.yaml ADDED
@@ -0,0 +1,170 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ hydra:
2
+ run:
3
+ dir: /work/dlclarge2/meeso-lfp/calvin_data/task_A_A/
4
+ sweep:
5
+ dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
6
+ subdir: ${hydra.job.num}
7
+ launcher:
8
+ _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
9
+ sweeper:
10
+ _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
11
+ max_batch_size: null
12
+ help:
13
+ app_name: ${hydra.job.name}
14
+ header: '${hydra.help.app_name} is powered by Hydra.
15
+
16
+ '
17
+ footer: 'Powered by Hydra (https://hydra.cc)
18
+
19
+ Use --hydra-help to view Hydra specific help
20
+
21
+ '
22
+ template: '${hydra.help.header}
23
+
24
+ == Configuration groups ==
25
+
26
+ Compose your configuration from those groups (group=option)
27
+
28
+
29
+ $APP_CONFIG_GROUPS
30
+
31
+
32
+ == Config ==
33
+
34
+ Override anything in the config (foo.bar=value)
35
+
36
+
37
+ $CONFIG
38
+
39
+
40
+ ${hydra.help.footer}
41
+
42
+ '
43
+ hydra_help:
44
+ template: 'Hydra (${hydra.runtime.version})
45
+
46
+ See https://hydra.cc for more info.
47
+
48
+
49
+ == Flags ==
50
+
51
+ $FLAGS_HELP
52
+
53
+
54
+ == Configuration groups ==
55
+
56
+ Compose your configuration from those groups (For example, append hydra/job_logging=disabled
57
+ to command line)
58
+
59
+
60
+ $HYDRA_CONFIG_GROUPS
61
+
62
+
63
+ Use ''--cfg hydra'' to Show the Hydra config.
64
+
65
+ '
66
+ hydra_help: ???
67
+ hydra_logging:
68
+ version: 1
69
+ formatters:
70
+ colorlog:
71
+ (): colorlog.ColoredFormatter
72
+ format: '[%(cyan)s%(asctime)s%(reset)s][%(purple)sHYDRA%(reset)s] %(message)s'
73
+ handlers:
74
+ console:
75
+ class: logging.StreamHandler
76
+ formatter: colorlog
77
+ stream: ext://sys.stdout
78
+ root:
79
+ level: INFO
80
+ handlers:
81
+ - console
82
+ disable_existing_loggers: false
83
+ job_logging:
84
+ version: 1
85
+ formatters:
86
+ simple:
87
+ format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
88
+ colorlog:
89
+ (): colorlog.ColoredFormatter
90
+ format: '[%(cyan)s%(asctime)s%(reset)s][%(blue)s%(name)s%(reset)s][%(log_color)s%(levelname)s%(reset)s]
91
+ - %(message)s'
92
+ log_colors:
93
+ DEBUG: purple
94
+ INFO: green
95
+ WARNING: yellow
96
+ ERROR: red
97
+ CRITICAL: red
98
+ handlers:
99
+ console:
100
+ class: logging.StreamHandler
101
+ formatter: colorlog
102
+ stream: ext://sys.stdout
103
+ file:
104
+ class: logging.FileHandler
105
+ formatter: simple
106
+ filename: ${hydra.job.name}.log
107
+ root:
108
+ level: INFO
109
+ handlers:
110
+ - console
111
+ - file
112
+ disable_existing_loggers: false
113
+ env: {}
114
+ searchpath: []
115
+ callbacks: {}
116
+ output_subdir: .hydra
117
+ overrides:
118
+ hydra:
119
+ - hydra.run.dir=/work/dlclarge2/meeso-lfp/calvin_data/task_A_A/
120
+ task:
121
+ - load_dir=/work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/
122
+ - set_static_cam=false
123
+ - processes=16
124
+ - +scene=calvin_scene_A
125
+ - show_gui=false
126
+ job:
127
+ name: datarenderer
128
+ override_dirname: +scene=calvin_scene_A,load_dir=/work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/,processes=16,set_static_cam=false,show_gui=false
129
+ id: ???
130
+ num: ???
131
+ config_name: config_rendering
132
+ env_set: {}
133
+ env_copy: []
134
+ config:
135
+ override_dirname:
136
+ kv_sep: '='
137
+ item_sep: ','
138
+ exclude_keys: []
139
+ runtime:
140
+ version: 1.1.1
141
+ cwd: /home/meeso/VRENVCalvinRender/vr_env
142
+ config_sources:
143
+ - path: hydra.conf
144
+ schema: pkg
145
+ provider: hydra
146
+ - path: /home/meeso/VRENVCalvinRender/conf
147
+ schema: file
148
+ provider: main
149
+ - path: hydra_plugins.hydra_colorlog.conf
150
+ schema: pkg
151
+ provider: hydra-colorlog
152
+ - path: ''
153
+ schema: structured
154
+ provider: schema
155
+ choices:
156
+ scene: calvin_scene_A
157
+ cameras: static_gripper_tactile
158
+ cameras/cameras@cameras.tactile: tactile
159
+ cameras/cameras@cameras.gripper: gripper
160
+ cameras/cameras@cameras.static: static
161
+ hydra/env: default
162
+ hydra/callbacks: null
163
+ hydra/job_logging: colorlog
164
+ hydra/hydra_logging: colorlog
165
+ hydra/hydra_help: default
166
+ hydra/help: default
167
+ hydra/sweeper: basic
168
+ hydra/launcher: basic
169
+ hydra/output: default
170
+ verbose: false
all_scale_D/scale_10/validation/.hydra/merged_config.yaml ADDED
@@ -0,0 +1,393 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ cameras:
2
+ static:
3
+ _target_: calvin_env.camera.static_camera.StaticCamera
4
+ name: static
5
+ fov: 10
6
+ aspect: 1
7
+ nearval: 0.01
8
+ farval: 10
9
+ width: 200
10
+ height: 200
11
+ look_at:
12
+ - -0.026242351159453392
13
+ - -0.0302329882979393
14
+ - 0.3920000493526459
15
+ look_from:
16
+ - 2.871459009488717
17
+ - -2.166602199425597
18
+ - 2.555159848480571
19
+ up_vector:
20
+ - 0.4041403970338857
21
+ - 0.22629790978217404
22
+ - 0.8862616969685161
23
+ gripper:
24
+ _target_: calvin_env.camera.gripper_camera.GripperCamera
25
+ name: gripper
26
+ fov: 75
27
+ aspect: 1
28
+ nearval: 0.01
29
+ farval: 2
30
+ width: 84
31
+ height: 84
32
+ tactile:
33
+ _target_: calvin_env.camera.tactile_sensor.TactileSensor
34
+ name: tactile
35
+ width: 120
36
+ height: 160
37
+ digit_link_ids:
38
+ - 10
39
+ - 12
40
+ visualize_gui: false
41
+ config_path: conf/digit_sensor/config_digit.yml
42
+ vr_input:
43
+ vr_controller:
44
+ POSITION: 1
45
+ ORIENTATION: 2
46
+ ANALOG: 3
47
+ BUTTONS: 6
48
+ BUTTON_A: 2
49
+ BUTTON_B: 1
50
+ vr_controller_id: 3
51
+ gripper_orientation_offset:
52
+ - 0
53
+ - 3
54
+ - 3.14
55
+ gripper_position_offset:
56
+ - -0.2
57
+ - 0.3
58
+ - 0
59
+ _target_: calvin_env.io_utils.vr_input.VrInput
60
+ limit_angle:
61
+ - 90
62
+ - 0
63
+ - 0
64
+ - -1
65
+ visualize_vr_pos: true
66
+ reset_button_queue_len: 60
67
+ env:
68
+ _target_: calvin_env.envs.play_table_env.PlayTableSimEnv
69
+ _recursive_: false
70
+ cameras: ${cameras}
71
+ seed: 0
72
+ bullet_time_step: 240.0
73
+ use_vr: false
74
+ show_gui: ${show_gui}
75
+ robot_cfg: ${robot}
76
+ scene_cfg: ${scene}
77
+ use_scene_info: false
78
+ use_egl: true
79
+ control_freq: 30
80
+ scene:
81
+ _target_: calvin_env.scene.play_table_scene.PlayTableScene
82
+ _recursive_: false
83
+ data_path: ${data_path}
84
+ global_scaling: 0.8
85
+ euler_obs: ${robot.euler_obs}
86
+ robot_base_position:
87
+ - -0.34
88
+ - -0.46
89
+ - 0.24
90
+ robot_base_orientation:
91
+ - 0
92
+ - 0
93
+ - 0
94
+ robot_initial_joint_positions:
95
+ - -1.21779206
96
+ - 1.03987646
97
+ - 2.11978261
98
+ - -2.34205014
99
+ - -0.87015947
100
+ - 1.64119353
101
+ - 0.55344866
102
+ surfaces:
103
+ table:
104
+ - - 0.0
105
+ - -0.15
106
+ - 0.46
107
+ - - 0.35
108
+ - -0.03
109
+ - 0.46
110
+ slider_left:
111
+ - - -0.32
112
+ - 0.05
113
+ - 0.46
114
+ - - -0.16
115
+ - 0.12
116
+ - 0.46
117
+ slider_right:
118
+ - - -0.05
119
+ - 0.05
120
+ - 0.46
121
+ - - 0.13
122
+ - 0.12
123
+ - 0.46
124
+ objects:
125
+ fixed_objects:
126
+ table:
127
+ file: calvin_table_D/urdf/calvin_table_D.urdf
128
+ initial_pos:
129
+ - 0
130
+ - 0
131
+ - 0
132
+ initial_orn:
133
+ - 0
134
+ - 0
135
+ - 0
136
+ joints:
137
+ base__slide:
138
+ initial_state: 0
139
+ base__drawer:
140
+ initial_state: 0
141
+ buttons:
142
+ base__button:
143
+ initial_state: 0
144
+ effect: led
145
+ switches:
146
+ base__switch:
147
+ initial_state: 0
148
+ effect: lightbulb
149
+ lights:
150
+ lightbulb:
151
+ link: light_link
152
+ color:
153
+ - 1
154
+ - 1
155
+ - 0
156
+ - 1
157
+ led:
158
+ link: led_link
159
+ color:
160
+ - 0
161
+ - 1
162
+ - 0
163
+ - 1
164
+ movable_objects:
165
+ block_red:
166
+ file: blocks/block_red_middle.urdf
167
+ initial_pos: any
168
+ initial_orn: any
169
+ block_blue:
170
+ file: blocks/block_blue_small.urdf
171
+ initial_pos: any
172
+ initial_orn: any
173
+ block_pink:
174
+ file: blocks/block_pink_big.urdf
175
+ initial_pos: any
176
+ initial_orn: any
177
+ name: calvin_scene_D
178
+ robot:
179
+ _target_: calvin_env.robot.robot.Robot
180
+ filename: franka_panda/panda_longer_finger.urdf
181
+ base_position: ${scene.robot_base_position}
182
+ base_orientation: ${scene.robot_base_orientation}
183
+ initial_joint_positions: ${scene.robot_initial_joint_positions}
184
+ max_joint_force: 200.0
185
+ gripper_force: 200
186
+ arm_joint_ids:
187
+ - 0
188
+ - 1
189
+ - 2
190
+ - 3
191
+ - 4
192
+ - 5
193
+ - 6
194
+ gripper_joint_ids:
195
+ - 9
196
+ - 11
197
+ gripper_joint_limits:
198
+ - 0
199
+ - 0.04
200
+ tcp_link_id: 15
201
+ end_effector_link_id: 7
202
+ gripper_cam_link: 12
203
+ use_nullspace: true
204
+ max_velocity: 2
205
+ use_ik_fast: false
206
+ magic_scaling_factor_pos: 1
207
+ magic_scaling_factor_orn: 1
208
+ use_target_pose: true
209
+ euler_obs: true
210
+ tasks:
211
+ _target_: calvin_env.envs.tasks.Tasks
212
+ tasks:
213
+ rotate_red_block_right:
214
+ - rotate_object
215
+ - block_red
216
+ - -60
217
+ rotate_red_block_left:
218
+ - rotate_object
219
+ - block_red
220
+ - 60
221
+ rotate_blue_block_right:
222
+ - rotate_object
223
+ - block_blue
224
+ - -60
225
+ rotate_blue_block_left:
226
+ - rotate_object
227
+ - block_blue
228
+ - 60
229
+ rotate_pink_block_right:
230
+ - rotate_object
231
+ - block_pink
232
+ - -60
233
+ rotate_pink_block_left:
234
+ - rotate_object
235
+ - block_pink
236
+ - 60
237
+ push_red_block_right:
238
+ - push_object
239
+ - block_red
240
+ - 0.1
241
+ - 0
242
+ push_red_block_left:
243
+ - push_object
244
+ - block_red
245
+ - -0.1
246
+ - 0
247
+ push_blue_block_right:
248
+ - push_object
249
+ - block_blue
250
+ - 0.1
251
+ - 0
252
+ push_blue_block_left:
253
+ - push_object
254
+ - block_blue
255
+ - -0.1
256
+ - 0
257
+ push_pink_block_right:
258
+ - push_object
259
+ - block_pink
260
+ - 0.1
261
+ - 0
262
+ push_pink_block_left:
263
+ - push_object
264
+ - block_pink
265
+ - -0.1
266
+ - 0
267
+ move_slider_left:
268
+ - move_door_rel
269
+ - base__slide
270
+ - 0.15
271
+ move_slider_right:
272
+ - move_door_rel
273
+ - base__slide
274
+ - -0.15
275
+ open_drawer:
276
+ - move_door_rel
277
+ - base__drawer
278
+ - 0.12
279
+ close_drawer:
280
+ - move_door_rel
281
+ - base__drawer
282
+ - -0.12
283
+ lift_red_block_table:
284
+ - lift_object
285
+ - block_red
286
+ - 0.05
287
+ - table
288
+ - base_link
289
+ lift_red_block_slider:
290
+ - lift_object
291
+ - block_red
292
+ - 0.03
293
+ - table
294
+ - plank_link
295
+ lift_red_block_drawer:
296
+ - lift_object
297
+ - block_red
298
+ - 0.05
299
+ - table
300
+ - drawer_link
301
+ lift_blue_block_table:
302
+ - lift_object
303
+ - block_blue
304
+ - 0.05
305
+ - table
306
+ - base_link
307
+ lift_blue_block_slider:
308
+ - lift_object
309
+ - block_blue
310
+ - 0.03
311
+ - table
312
+ - plank_link
313
+ lift_blue_block_drawer:
314
+ - lift_object
315
+ - block_blue
316
+ - 0.05
317
+ - table
318
+ - drawer_link
319
+ lift_pink_block_table:
320
+ - lift_object
321
+ - block_pink
322
+ - 0.05
323
+ - table
324
+ - base_link
325
+ lift_pink_block_slider:
326
+ - lift_object
327
+ - block_pink
328
+ - 0.03
329
+ - table
330
+ - plank_link
331
+ lift_pink_block_drawer:
332
+ - lift_object
333
+ - block_pink
334
+ - 0.05
335
+ - table
336
+ - drawer_link
337
+ place_in_slider:
338
+ - place_object
339
+ - table
340
+ - plank_link
341
+ place_in_drawer:
342
+ - place_object
343
+ - table
344
+ - drawer_link
345
+ stack_block:
346
+ - stack_objects
347
+ unstack_block:
348
+ - unstack_objects
349
+ turn_on_lightbulb:
350
+ - toggle_light
351
+ - lightbulb
352
+ - 0
353
+ - 1
354
+ turn_off_lightbulb:
355
+ - toggle_light
356
+ - lightbulb
357
+ - 1
358
+ - 0
359
+ turn_on_led:
360
+ - toggle_light
361
+ - led
362
+ - 0
363
+ - 1
364
+ turn_off_led:
365
+ - toggle_light
366
+ - led
367
+ - 1
368
+ - 0
369
+ push_into_drawer:
370
+ - push_object_into
371
+ - - block_red
372
+ - block_blue
373
+ - block_pink
374
+ - table
375
+ - base_link
376
+ - table
377
+ - drawer_link
378
+ recorder:
379
+ record: ${record}
380
+ record_fps: 30.0
381
+ show_fps: false
382
+ enable_tts: true
383
+ seed: 0
384
+ use_vr: true
385
+ data_path: data
386
+ save_dir: /home/meeso/recordings
387
+ record: true
388
+ load_dir: /work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-09-12/11-36-05/
389
+ show_gui: false
390
+ processes: 16
391
+ max_episode_frames: 1
392
+ save_body_infos: true
393
+ set_static_cam: false
all_scale_D/scale_10/validation/.hydra/overrides.yaml ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ - load_dir=/work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/
2
+ - set_static_cam=false
3
+ - processes=16
4
+ - +scene=calvin_scene_A
5
+ - show_gui=false
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