diff --git a/all_scale_D/scale_10/training/.hydra/config.yaml b/all_scale_D/scale_10/training/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..eb0131f97bc0efede43ce12f525b901bd239649c --- /dev/null +++ b/all_scale_D/scale_10/training/.hydra/config.yaml @@ -0,0 +1,151 @@ +cameras: + static: + _target_: vr_env.camera.static_camera.StaticCamera + name: static + fov: 10 + aspect: 1 + nearval: 0.01 + farval: 10 + width: 200 + height: 200 + look_at: + - -0.026242351159453392 + - -0.0302329882979393 + - 0.3920000493526459 + look_from: + - 2.871459009488717 + - -2.166602199425597 + - 2.555159848480571 + up_vector: + - 0.4041403970338857 + - 0.22629790978217404 + - 0.8862616969685161 + gripper: + _target_: vr_env.camera.gripper_camera.GripperCamera + name: gripper + fov: 75 + aspect: 1 + nearval: 0.01 + farval: 2 + width: 84 + height: 84 + tactile: + _target_: vr_env.camera.tactile_sensor.TactileSensor + name: tactile + width: 120 + height: 160 + digit_link_ids: + - 10 + - 12 + visualize_gui: false + config_path: conf/digit_sensor/config_digit.yml +load_dir: /work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/ +data_path: data +save_dir: ??? +show_gui: false +processes: 16 +max_episode_frames: 1 +save_body_infos: true +set_static_cam: false +env: + cameras: ${cameras} + show_gui: ${show_gui} + use_vr: false +scene: + _target_: vr_env.scene.play_table_scene.PlayTableScene + _recursive_: false + name: calvin_scene_A + data_path: ${data_path} + global_scaling: 0.8 + euler_obs: ${robot.euler_obs} + robot_base_position: + - -0.34 + - -0.46 + - 0.24 + robot_base_orientation: + - 0 + - 0 + - 0 + robot_initial_joint_positions: + - -1.21779206 + - 1.03987646 + - 2.11978261 + - -2.34205014 + - -0.87015947 + - 1.64119353 + - 0.55344866 + surfaces: + table: + - - 0.0 + - -0.15 + - 0.46 + - - 0.35 + - -0.03 + - 0.46 + slider_left: + - - -0.32 + - 0.05 + - 0.46 + - - -0.16 + - 0.12 + - 0.46 + slider_right: + - - -0.05 + - 0.05 + - 0.46 + - - 0.13 + - 0.12 + - 0.46 + objects: + fixed_objects: + table: + file: calvin_table_A/urdf/calvin_table_A.urdf + initial_pos: + - 0 + - 0 + - 0 + initial_orn: + - 0 + - 0 + - 0 + joints: + base__slide: + initial_state: 0 + base__drawer: + initial_state: 0 + buttons: + base__button: + initial_state: 0 + effect: led + switches: + base__switch: + initial_state: 0 + effect: lightbulb + lights: + lightbulb: + link: light_link + color: + - 1 + - 1 + - 0 + - 1 + led: + link: led_link + color: + - 0 + - 1 + - 0 + - 1 + movable_objects: + block_red: + file: blocks/block_red_middle.urdf + initial_pos: any + initial_orn: any + block_blue: + file: blocks/block_blue_small.urdf + initial_pos: any + initial_orn: any + block_pink: + file: blocks/block_pink_big.urdf + initial_pos: any + initial_orn: any diff --git a/all_scale_D/scale_10/training/.hydra/hydra.yaml b/all_scale_D/scale_10/training/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6ac4a26982003b959b1d43745333f5728d4fbb83 --- /dev/null +++ b/all_scale_D/scale_10/training/.hydra/hydra.yaml @@ -0,0 +1,170 @@ +hydra: + run: + dir: /work/dlclarge2/meeso-lfp/calvin_data/task_A_A/ + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + colorlog: + (): colorlog.ColoredFormatter + format: '[%(cyan)s%(asctime)s%(reset)s][%(purple)sHYDRA%(reset)s] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: colorlog + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + colorlog: + (): colorlog.ColoredFormatter + format: '[%(cyan)s%(asctime)s%(reset)s][%(blue)s%(name)s%(reset)s][%(log_color)s%(levelname)s%(reset)s] + - %(message)s' + log_colors: + DEBUG: purple + INFO: green + WARNING: yellow + ERROR: red + CRITICAL: red + handlers: + console: + class: logging.StreamHandler + formatter: colorlog + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.run.dir=/work/dlclarge2/meeso-lfp/calvin_data/task_A_A/ + task: + - load_dir=/work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/ + - set_static_cam=false + - processes=16 + - +scene=calvin_scene_A + - show_gui=false + job: + name: datarenderer + 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 + id: ??? + num: ??? + config_name: config_rendering + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.1.1 + cwd: /home/meeso/VRENVCalvinRender/vr_env + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /home/meeso/VRENVCalvinRender/conf + schema: file + provider: main + - path: hydra_plugins.hydra_colorlog.conf + schema: pkg + provider: hydra-colorlog + - path: '' + schema: structured + provider: schema + choices: + scene: calvin_scene_A + cameras: static_gripper_tactile + cameras/cameras@cameras.tactile: tactile + cameras/cameras@cameras.gripper: gripper + cameras/cameras@cameras.static: static + hydra/env: default + hydra/callbacks: null + hydra/job_logging: colorlog + hydra/hydra_logging: colorlog + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/all_scale_D/scale_10/training/.hydra/merged_config.yaml b/all_scale_D/scale_10/training/.hydra/merged_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..23021af04d23e6477a88ad6aa66f3a8806843224 --- /dev/null +++ b/all_scale_D/scale_10/training/.hydra/merged_config.yaml @@ -0,0 +1,393 @@ +cameras: + static: + _target_: calvin_env.camera.static_camera.StaticCamera + name: static + fov: 10 + aspect: 1 + nearval: 0.01 + farval: 10 + width: 200 + height: 200 + look_at: + - -0.026242351159453392 + - -0.0302329882979393 + - 0.3920000493526459 + look_from: + - 2.871459009488717 + - -2.166602199425597 + - 2.555159848480571 + up_vector: + - 0.4041403970338857 + - 0.22629790978217404 + - 0.8862616969685161 + gripper: + _target_: calvin_env.camera.gripper_camera.GripperCamera + name: gripper + fov: 75 + aspect: 1 + nearval: 0.01 + farval: 2 + width: 84 + height: 84 + tactile: + _target_: calvin_env.camera.tactile_sensor.TactileSensor + name: tactile + width: 120 + height: 160 + digit_link_ids: + - 10 + - 12 + visualize_gui: false + config_path: conf/digit_sensor/config_digit.yml +vr_input: + vr_controller: + POSITION: 1 + ORIENTATION: 2 + ANALOG: 3 + BUTTONS: 6 + BUTTON_A: 2 + BUTTON_B: 1 + vr_controller_id: 3 + gripper_orientation_offset: + - 0 + - 3 + - 3.14 + gripper_position_offset: + - -0.2 + - 0.3 + - 0 + _target_: calvin_env.io_utils.vr_input.VrInput + limit_angle: + - 90 + - 0 + - 0 + - -1 + visualize_vr_pos: true + reset_button_queue_len: 60 +env: + _target_: calvin_env.envs.play_table_env.PlayTableSimEnv + _recursive_: false + cameras: ${cameras} + seed: 0 + bullet_time_step: 240.0 + use_vr: false + show_gui: ${show_gui} + robot_cfg: ${robot} + scene_cfg: ${scene} + use_scene_info: false + use_egl: true + control_freq: 30 +scene: + _target_: calvin_env.scene.play_table_scene.PlayTableScene + _recursive_: false + data_path: ${data_path} + global_scaling: 0.8 + euler_obs: ${robot.euler_obs} + robot_base_position: + - -0.34 + - -0.46 + - 0.24 + robot_base_orientation: + - 0 + - 0 + - 0 + robot_initial_joint_positions: + - -1.21779206 + - 1.03987646 + - 2.11978261 + - -2.34205014 + - -0.87015947 + - 1.64119353 + - 0.55344866 + surfaces: + table: + - - 0.0 + - -0.15 + - 0.46 + - - 0.35 + - -0.03 + - 0.46 + slider_left: + - - -0.32 + - 0.05 + - 0.46 + - - -0.16 + - 0.12 + - 0.46 + slider_right: + - - -0.05 + - 0.05 + - 0.46 + - - 0.13 + - 0.12 + - 0.46 + objects: + fixed_objects: + table: + file: calvin_table_D/urdf/calvin_table_D.urdf + initial_pos: + - 0 + - 0 + - 0 + initial_orn: + - 0 + - 0 + - 0 + joints: + base__slide: + initial_state: 0 + base__drawer: + initial_state: 0 + buttons: + base__button: + initial_state: 0 + effect: led + switches: + base__switch: + initial_state: 0 + effect: lightbulb + lights: + lightbulb: + link: light_link + color: + - 1 + - 1 + - 0 + - 1 + led: + link: led_link + color: + - 0 + - 1 + - 0 + - 1 + movable_objects: + block_red: + file: blocks/block_red_middle.urdf + initial_pos: any + initial_orn: any + block_blue: + file: blocks/block_blue_small.urdf + initial_pos: any + initial_orn: any + block_pink: + file: blocks/block_pink_big.urdf + initial_pos: any + initial_orn: any + name: calvin_scene_D +robot: + _target_: calvin_env.robot.robot.Robot + filename: franka_panda/panda_longer_finger.urdf + base_position: ${scene.robot_base_position} + base_orientation: ${scene.robot_base_orientation} + initial_joint_positions: ${scene.robot_initial_joint_positions} + max_joint_force: 200.0 + gripper_force: 200 + arm_joint_ids: + - 0 + - 1 + - 2 + - 3 + - 4 + - 5 + - 6 + gripper_joint_ids: + - 9 + - 11 + gripper_joint_limits: + - 0 + - 0.04 + tcp_link_id: 15 + end_effector_link_id: 7 + gripper_cam_link: 12 + use_nullspace: true + max_velocity: 2 + use_ik_fast: false + magic_scaling_factor_pos: 1 + magic_scaling_factor_orn: 1 + use_target_pose: true + euler_obs: true +tasks: + _target_: calvin_env.envs.tasks.Tasks + tasks: + rotate_red_block_right: + - rotate_object + - block_red + - -60 + rotate_red_block_left: + - rotate_object + - block_red + - 60 + rotate_blue_block_right: + - rotate_object + - block_blue + - -60 + rotate_blue_block_left: + - rotate_object + - block_blue + - 60 + rotate_pink_block_right: + - rotate_object + - block_pink + - -60 + rotate_pink_block_left: + - rotate_object + - block_pink + - 60 + push_red_block_right: + - push_object + - block_red + - 0.1 + - 0 + push_red_block_left: + - push_object + - block_red + - -0.1 + - 0 + push_blue_block_right: + - push_object + - block_blue + - 0.1 + - 0 + push_blue_block_left: + - push_object + - block_blue + - -0.1 + - 0 + push_pink_block_right: + - push_object + - block_pink + - 0.1 + - 0 + push_pink_block_left: + - push_object + - block_pink + - -0.1 + - 0 + move_slider_left: + - move_door_rel + - base__slide + - 0.15 + move_slider_right: + - move_door_rel + - base__slide + - -0.15 + open_drawer: + - move_door_rel + - base__drawer + - 0.12 + close_drawer: + - move_door_rel + - base__drawer + - -0.12 + lift_red_block_table: + - lift_object + - block_red + - 0.05 + - table + - base_link + lift_red_block_slider: + - lift_object + - block_red + - 0.03 + - table + - plank_link + lift_red_block_drawer: + - lift_object + - block_red + - 0.05 + - table + - drawer_link + lift_blue_block_table: + - lift_object + - block_blue + - 0.05 + - table + - base_link + lift_blue_block_slider: + - lift_object + - block_blue + - 0.03 + - table + - plank_link + lift_blue_block_drawer: + - lift_object + - block_blue + - 0.05 + - table + - drawer_link + lift_pink_block_table: + - lift_object + - block_pink + - 0.05 + - table + - base_link + lift_pink_block_slider: + - lift_object + - block_pink + - 0.03 + - table + - plank_link + lift_pink_block_drawer: + - lift_object + - block_pink + - 0.05 + - table + - drawer_link + place_in_slider: + - place_object + - table + - plank_link + place_in_drawer: + - place_object + - table + - drawer_link + stack_block: + - stack_objects + unstack_block: + - unstack_objects + turn_on_lightbulb: + - toggle_light + - lightbulb + - 0 + - 1 + turn_off_lightbulb: + - toggle_light + - lightbulb + - 1 + - 0 + turn_on_led: + - toggle_light + - led + - 0 + - 1 + turn_off_led: + - toggle_light + - led + - 1 + - 0 + push_into_drawer: + - push_object_into + - - block_red + - block_blue + - block_pink + - table + - base_link + - table + - drawer_link +recorder: + record: ${record} + record_fps: 30.0 + show_fps: false + enable_tts: true +seed: 0 +use_vr: true +data_path: data +save_dir: /home/meeso/recordings +record: true +load_dir: /work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-09-12/11-36-05/ +show_gui: false +processes: 16 +max_episode_frames: 1 +save_body_infos: true +set_static_cam: false diff --git a/all_scale_D/scale_10/training/.hydra/overrides.yaml b/all_scale_D/scale_10/training/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..530ed5076f96af700452db9fc96f4a75576c8f81 --- /dev/null +++ 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0000000000000000000000000000000000000000..35648e7ce9ae7cdc4f3b530ac72350fd156c061c --- /dev/null +++ b/all_scale_D/scale_10/training/lang_paraphrase-MiniLM-L3-v2/auto_lang_ann.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b336682ffe5a4ae4776c4ae81c153a7c058a30a1dea0ae4f78ede83054f27d5 +size 8108180 diff --git a/all_scale_D/scale_10/training/scene_info.npy b/all_scale_D/scale_10/training/scene_info.npy new file mode 100644 index 0000000000000000000000000000000000000000..f03a31f403268243f999e3765541105e2702f852 --- /dev/null +++ b/all_scale_D/scale_10/training/scene_info.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22305b276e5db506bd6d3d6d9b84b9d243b62a9d3b4a48ec94449b07a77e1db6 +size 408 diff --git a/all_scale_D/scale_10/training/statistics.yaml b/all_scale_D/scale_10/training/statistics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..956d04c395133944758761a1dce39f689bef9001 --- /dev/null +++ b/all_scale_D/scale_10/training/statistics.yaml @@ -0,0 +1,21 @@ +robot_obs: + - _target_: calvin_agent.utils.transforms.NormalizeVector + mean: [0.039233, -0.118554, 0.507826, 1.079174, -0.083069, 1.579753, + 0.054622, -0.736859, 1.017769, 1.792879, -2.099604, -0.993738, + 1.790842, 0.586534, 0.095367] + std: [0.150769, 0.1104 , 0.06253 , 2.883517, 0.126405, 0.377196, + 0.030152, 0.334392, 0.172714, 0.240513, 0.3842 , 0.198596, + 0.158712, 0.346865, 0.995442] +scene_obs: + - _target_: calvin_agent.utils.transforms.NormalizeVector + mean: [0.150934, 0.119917, 0.000239, 0.042049, 0.487755, 0.47448 , + 0.057482, -0.088074, 0.431237, 0.046034, 0.030599, 0.027333, + 0.062103, -0.092833, 0.430236, -0.054962, 0.019381, 0.096546, + 0.064944, -0.093058, 0.428381, 0.024941, 0.002746, -0.031589] + std: [ 0.125757, 0.09654 , 0.002148, 0.041916, 0.49985 , 0.499348, + 0.146225, 0.119266, 0.050408, 1.430807, 0.676023, 2.017468, + 0.142979, 0.113236, 0.049651, 1.545888, 0.3906 , 1.763569, + 0.143077, 0.11546 , 0.050363, 1.514873, 0.431664, 1.860245] + +act_min_bound: [-0.432188, -0.545456, 0.293439, -3.141593, -0.811348, -3.141573, -1. ] +act_max_bound: [0.42977 , 0.139396, 0.796262, 3.141592, 0.638583, 3.141551, 1. ] diff --git a/all_scale_D/scale_10/validation/.hydra/config.yaml b/all_scale_D/scale_10/validation/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..eb0131f97bc0efede43ce12f525b901bd239649c --- /dev/null +++ b/all_scale_D/scale_10/validation/.hydra/config.yaml @@ -0,0 +1,151 @@ +cameras: + static: + _target_: vr_env.camera.static_camera.StaticCamera + name: static + fov: 10 + aspect: 1 + nearval: 0.01 + farval: 10 + width: 200 + height: 200 + look_at: + - -0.026242351159453392 + - -0.0302329882979393 + - 0.3920000493526459 + look_from: + - 2.871459009488717 + - -2.166602199425597 + - 2.555159848480571 + up_vector: + - 0.4041403970338857 + - 0.22629790978217404 + - 0.8862616969685161 + gripper: + _target_: vr_env.camera.gripper_camera.GripperCamera + name: gripper + fov: 75 + aspect: 1 + nearval: 0.01 + farval: 2 + width: 84 + height: 84 + tactile: + _target_: vr_env.camera.tactile_sensor.TactileSensor + name: tactile + width: 120 + height: 160 + digit_link_ids: + - 10 + - 12 + visualize_gui: false + config_path: conf/digit_sensor/config_digit.yml +load_dir: /work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/ +data_path: data +save_dir: ??? +show_gui: false +processes: 16 +max_episode_frames: 1 +save_body_infos: true +set_static_cam: false +env: + cameras: ${cameras} + show_gui: ${show_gui} + use_vr: false +scene: + _target_: vr_env.scene.play_table_scene.PlayTableScene + _recursive_: false + name: calvin_scene_A + data_path: ${data_path} + global_scaling: 0.8 + euler_obs: ${robot.euler_obs} + robot_base_position: + - -0.34 + - -0.46 + - 0.24 + robot_base_orientation: + - 0 + - 0 + - 0 + robot_initial_joint_positions: + - -1.21779206 + - 1.03987646 + - 2.11978261 + - -2.34205014 + - -0.87015947 + - 1.64119353 + - 0.55344866 + surfaces: + table: + - - 0.0 + - -0.15 + - 0.46 + - - 0.35 + - -0.03 + - 0.46 + slider_left: + - - -0.32 + - 0.05 + - 0.46 + - - -0.16 + - 0.12 + - 0.46 + slider_right: + - - -0.05 + - 0.05 + - 0.46 + - - 0.13 + - 0.12 + - 0.46 + objects: + fixed_objects: + table: + file: calvin_table_A/urdf/calvin_table_A.urdf + initial_pos: + - 0 + - 0 + - 0 + initial_orn: + - 0 + - 0 + - 0 + joints: + base__slide: + initial_state: 0 + base__drawer: + initial_state: 0 + buttons: + base__button: + initial_state: 0 + effect: led + switches: + base__switch: + initial_state: 0 + effect: lightbulb + lights: + lightbulb: + link: light_link + color: + - 1 + - 1 + - 0 + - 1 + led: + link: led_link + color: + - 0 + - 1 + - 0 + - 1 + movable_objects: + block_red: + file: blocks/block_red_middle.urdf + initial_pos: any + initial_orn: any + block_blue: + file: blocks/block_blue_small.urdf + initial_pos: any + initial_orn: any + block_pink: + file: blocks/block_pink_big.urdf + initial_pos: any + initial_orn: any diff --git a/all_scale_D/scale_10/validation/.hydra/hydra.yaml b/all_scale_D/scale_10/validation/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6ac4a26982003b959b1d43745333f5728d4fbb83 --- /dev/null +++ b/all_scale_D/scale_10/validation/.hydra/hydra.yaml @@ -0,0 +1,170 @@ +hydra: + run: + dir: /work/dlclarge2/meeso-lfp/calvin_data/task_A_A/ + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + colorlog: + (): colorlog.ColoredFormatter + format: '[%(cyan)s%(asctime)s%(reset)s][%(purple)sHYDRA%(reset)s] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: colorlog + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + colorlog: + (): colorlog.ColoredFormatter + format: '[%(cyan)s%(asctime)s%(reset)s][%(blue)s%(name)s%(reset)s][%(log_color)s%(levelname)s%(reset)s] + - %(message)s' + log_colors: + DEBUG: purple + INFO: green + WARNING: yellow + ERROR: red + CRITICAL: red + handlers: + console: + class: logging.StreamHandler + formatter: colorlog + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.run.dir=/work/dlclarge2/meeso-lfp/calvin_data/task_A_A/ + task: + - load_dir=/work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/ + - set_static_cam=false + - processes=16 + - +scene=calvin_scene_A + - show_gui=false + job: + name: datarenderer + 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 + id: ??? + num: ??? + config_name: config_rendering + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.1.1 + cwd: /home/meeso/VRENVCalvinRender/vr_env + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /home/meeso/VRENVCalvinRender/conf + schema: file + provider: main + - path: hydra_plugins.hydra_colorlog.conf + schema: pkg + provider: hydra-colorlog + - path: '' + schema: structured + provider: schema + choices: + scene: calvin_scene_A + cameras: static_gripper_tactile + cameras/cameras@cameras.tactile: tactile + cameras/cameras@cameras.gripper: gripper + cameras/cameras@cameras.static: static + hydra/env: default + hydra/callbacks: null + hydra/job_logging: colorlog + hydra/hydra_logging: colorlog + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/all_scale_D/scale_10/validation/.hydra/merged_config.yaml b/all_scale_D/scale_10/validation/.hydra/merged_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..23021af04d23e6477a88ad6aa66f3a8806843224 --- /dev/null +++ b/all_scale_D/scale_10/validation/.hydra/merged_config.yaml @@ -0,0 +1,393 @@ +cameras: + static: + _target_: calvin_env.camera.static_camera.StaticCamera + name: static + fov: 10 + aspect: 1 + nearval: 0.01 + farval: 10 + width: 200 + height: 200 + look_at: + - -0.026242351159453392 + - -0.0302329882979393 + - 0.3920000493526459 + look_from: + - 2.871459009488717 + - -2.166602199425597 + - 2.555159848480571 + up_vector: + - 0.4041403970338857 + - 0.22629790978217404 + - 0.8862616969685161 + gripper: + _target_: calvin_env.camera.gripper_camera.GripperCamera + name: gripper + fov: 75 + aspect: 1 + nearval: 0.01 + farval: 2 + width: 84 + height: 84 + tactile: + _target_: calvin_env.camera.tactile_sensor.TactileSensor + name: tactile + width: 120 + height: 160 + digit_link_ids: + - 10 + - 12 + visualize_gui: false + config_path: conf/digit_sensor/config_digit.yml +vr_input: + vr_controller: + POSITION: 1 + ORIENTATION: 2 + ANALOG: 3 + BUTTONS: 6 + BUTTON_A: 2 + BUTTON_B: 1 + vr_controller_id: 3 + gripper_orientation_offset: + - 0 + - 3 + - 3.14 + gripper_position_offset: + - -0.2 + - 0.3 + - 0 + _target_: calvin_env.io_utils.vr_input.VrInput + limit_angle: + - 90 + - 0 + - 0 + - -1 + visualize_vr_pos: true + reset_button_queue_len: 60 +env: + _target_: calvin_env.envs.play_table_env.PlayTableSimEnv + _recursive_: false + cameras: ${cameras} + seed: 0 + bullet_time_step: 240.0 + use_vr: false + show_gui: ${show_gui} + robot_cfg: ${robot} + scene_cfg: ${scene} + use_scene_info: false + use_egl: true + control_freq: 30 +scene: + _target_: calvin_env.scene.play_table_scene.PlayTableScene + _recursive_: false + data_path: ${data_path} + global_scaling: 0.8 + euler_obs: ${robot.euler_obs} + robot_base_position: + - -0.34 + - -0.46 + - 0.24 + robot_base_orientation: + - 0 + - 0 + - 0 + robot_initial_joint_positions: + - -1.21779206 + - 1.03987646 + - 2.11978261 + - -2.34205014 + - -0.87015947 + - 1.64119353 + - 0.55344866 + surfaces: + table: + - - 0.0 + - -0.15 + - 0.46 + - - 0.35 + - -0.03 + - 0.46 + slider_left: + - - -0.32 + - 0.05 + - 0.46 + - - -0.16 + - 0.12 + - 0.46 + slider_right: + - - -0.05 + - 0.05 + - 0.46 + - - 0.13 + - 0.12 + - 0.46 + objects: + fixed_objects: + table: + file: calvin_table_D/urdf/calvin_table_D.urdf + initial_pos: + - 0 + - 0 + - 0 + initial_orn: + - 0 + - 0 + - 0 + joints: + base__slide: + initial_state: 0 + base__drawer: + initial_state: 0 + buttons: + base__button: + initial_state: 0 + effect: led + switches: + base__switch: + initial_state: 0 + effect: lightbulb + lights: + lightbulb: + link: light_link + color: + - 1 + - 1 + - 0 + - 1 + led: + link: led_link + color: + - 0 + - 1 + - 0 + - 1 + movable_objects: + block_red: + file: blocks/block_red_middle.urdf + initial_pos: any + initial_orn: any + block_blue: + file: blocks/block_blue_small.urdf + initial_pos: any + initial_orn: any + block_pink: + file: blocks/block_pink_big.urdf + initial_pos: any + initial_orn: any + name: calvin_scene_D +robot: + _target_: calvin_env.robot.robot.Robot + filename: franka_panda/panda_longer_finger.urdf + base_position: ${scene.robot_base_position} + base_orientation: ${scene.robot_base_orientation} + initial_joint_positions: ${scene.robot_initial_joint_positions} + max_joint_force: 200.0 + gripper_force: 200 + arm_joint_ids: + - 0 + - 1 + - 2 + - 3 + - 4 + - 5 + - 6 + gripper_joint_ids: + - 9 + - 11 + gripper_joint_limits: + - 0 + - 0.04 + tcp_link_id: 15 + end_effector_link_id: 7 + gripper_cam_link: 12 + use_nullspace: true + max_velocity: 2 + use_ik_fast: false + magic_scaling_factor_pos: 1 + magic_scaling_factor_orn: 1 + use_target_pose: true + euler_obs: true +tasks: + _target_: calvin_env.envs.tasks.Tasks + tasks: + rotate_red_block_right: + - rotate_object + - block_red + - -60 + rotate_red_block_left: + - rotate_object + - block_red + - 60 + rotate_blue_block_right: + - rotate_object + - block_blue + - -60 + rotate_blue_block_left: + - rotate_object + - block_blue + - 60 + rotate_pink_block_right: + - rotate_object + - block_pink + - -60 + rotate_pink_block_left: + - rotate_object + - block_pink + - 60 + push_red_block_right: + - push_object + - block_red + - 0.1 + - 0 + push_red_block_left: + - push_object + - block_red + - -0.1 + - 0 + push_blue_block_right: + - push_object + - block_blue + - 0.1 + - 0 + push_blue_block_left: + - push_object + - block_blue + - -0.1 + - 0 + push_pink_block_right: + - push_object + - block_pink + - 0.1 + - 0 + push_pink_block_left: + - push_object + - block_pink + - -0.1 + - 0 + move_slider_left: + - move_door_rel + - base__slide + - 0.15 + move_slider_right: + - move_door_rel + - base__slide + - -0.15 + open_drawer: + - move_door_rel + - base__drawer + - 0.12 + close_drawer: + - move_door_rel + - base__drawer + - -0.12 + lift_red_block_table: + - lift_object + - block_red + - 0.05 + - table + - base_link + lift_red_block_slider: + - lift_object + - block_red + - 0.03 + - table + - plank_link + lift_red_block_drawer: + - lift_object + - block_red + - 0.05 + - table + - drawer_link + lift_blue_block_table: + - lift_object + - block_blue + - 0.05 + - table + - base_link + lift_blue_block_slider: + - lift_object + - block_blue + - 0.03 + - table + - plank_link + lift_blue_block_drawer: + - lift_object + - block_blue + - 0.05 + - table + - drawer_link + lift_pink_block_table: + - lift_object + - block_pink + - 0.05 + - table + - base_link + lift_pink_block_slider: + - lift_object + - block_pink + - 0.03 + - table + - plank_link + lift_pink_block_drawer: + - lift_object + - block_pink + - 0.05 + - table + - drawer_link + place_in_slider: + - place_object + - table + - plank_link + place_in_drawer: + - place_object + - table + - drawer_link + stack_block: + - stack_objects + unstack_block: + - unstack_objects + turn_on_lightbulb: + - toggle_light + - lightbulb + - 0 + - 1 + turn_off_lightbulb: + - toggle_light + - lightbulb + - 1 + - 0 + turn_on_led: + - toggle_light + - led + - 0 + - 1 + turn_off_led: + - toggle_light + - led + - 1 + - 0 + push_into_drawer: + - push_object_into + - - block_red + - block_blue + - block_pink + - table + - base_link + - table + - drawer_link +recorder: + record: ${record} + record_fps: 30.0 + show_fps: false + enable_tts: true +seed: 0 +use_vr: true +data_path: data +save_dir: /home/meeso/recordings +record: true +load_dir: /work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-09-12/11-36-05/ +show_gui: false +processes: 16 +max_episode_frames: 1 +save_body_infos: true +set_static_cam: false diff --git a/all_scale_D/scale_10/validation/.hydra/overrides.yaml b/all_scale_D/scale_10/validation/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..530ed5076f96af700452db9fc96f4a75576c8f81 --- /dev/null +++ b/all_scale_D/scale_10/validation/.hydra/overrides.yaml @@ -0,0 +1,5 @@ +- load_dir=/work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/ +- set_static_cam=false +- processes=16 +- +scene=calvin_scene_A +- show_gui=false diff --git a/all_scale_D/scale_10/validation/ep_lens.npy b/all_scale_D/scale_10/validation/ep_lens.npy new file mode 100644 index 0000000000000000000000000000000000000000..df108f277dc5dc4854ab0c111bd9cb8817a32589 --- /dev/null +++ b/all_scale_D/scale_10/validation/ep_lens.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:949fa58b56382c483cbcaae264e7b1832789079fb429dc0c0bfcfc3efcc55cb1 +size 160 diff --git a/all_scale_D/scale_10/validation/ep_start_end_ids.npy b/all_scale_D/scale_10/validation/ep_start_end_ids.npy new file mode 100644 index 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0.198596, + 0.158712, 0.346865, 0.995442] +scene_obs: + - _target_: calvin_agent.utils.transforms.NormalizeVector + mean: [0.150934, 0.119917, 0.000239, 0.042049, 0.487755, 0.47448 , + 0.057482, -0.088074, 0.431237, 0.046034, 0.030599, 0.027333, + 0.062103, -0.092833, 0.430236, -0.054962, 0.019381, 0.096546, + 0.064944, -0.093058, 0.428381, 0.024941, 0.002746, -0.031589] + std: [ 0.125757, 0.09654 , 0.002148, 0.041916, 0.49985 , 0.499348, + 0.146225, 0.119266, 0.050408, 1.430807, 0.676023, 2.017468, + 0.142979, 0.113236, 0.049651, 1.545888, 0.3906 , 1.763569, + 0.143077, 0.11546 , 0.050363, 1.514873, 0.431664, 1.860245] + +act_min_bound: [-0.432188, -0.545456, 0.293439, -3.141593, -0.811348, -3.141573, -1. ] +act_max_bound: [0.42977 , 0.139396, 0.796262, 3.141592, 0.638583, 3.141551, 1. ] diff --git a/all_scale_D/scale_100/training/.hydra/config.yaml b/all_scale_D/scale_100/training/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..eb0131f97bc0efede43ce12f525b901bd239649c --- /dev/null +++ b/all_scale_D/scale_100/training/.hydra/config.yaml @@ -0,0 +1,151 @@ +cameras: + static: + _target_: vr_env.camera.static_camera.StaticCamera + name: static + fov: 10 + aspect: 1 + nearval: 0.01 + farval: 10 + width: 200 + height: 200 + look_at: + - -0.026242351159453392 + - -0.0302329882979393 + - 0.3920000493526459 + look_from: + - 2.871459009488717 + - -2.166602199425597 + - 2.555159848480571 + up_vector: + - 0.4041403970338857 + - 0.22629790978217404 + - 0.8862616969685161 + gripper: + _target_: vr_env.camera.gripper_camera.GripperCamera + name: gripper + fov: 75 + aspect: 1 + nearval: 0.01 + farval: 2 + width: 84 + height: 84 + tactile: + _target_: vr_env.camera.tactile_sensor.TactileSensor + name: tactile + width: 120 + height: 160 + digit_link_ids: + - 10 + - 12 + visualize_gui: false + config_path: conf/digit_sensor/config_digit.yml +load_dir: /work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/ +data_path: data +save_dir: ??? +show_gui: false +processes: 16 +max_episode_frames: 1 +save_body_infos: true +set_static_cam: false +env: + cameras: ${cameras} + show_gui: ${show_gui} + use_vr: false +scene: + _target_: vr_env.scene.play_table_scene.PlayTableScene + _recursive_: false + name: calvin_scene_A + data_path: ${data_path} + global_scaling: 0.8 + euler_obs: ${robot.euler_obs} + robot_base_position: + - -0.34 + - -0.46 + - 0.24 + robot_base_orientation: + - 0 + - 0 + - 0 + robot_initial_joint_positions: + - -1.21779206 + - 1.03987646 + - 2.11978261 + - -2.34205014 + - -0.87015947 + - 1.64119353 + - 0.55344866 + surfaces: + table: + - - 0.0 + - -0.15 + - 0.46 + - - 0.35 + - -0.03 + - 0.46 + slider_left: + - - -0.32 + - 0.05 + - 0.46 + - - -0.16 + - 0.12 + - 0.46 + slider_right: + - - -0.05 + - 0.05 + - 0.46 + - - 0.13 + - 0.12 + - 0.46 + objects: + fixed_objects: + table: + file: calvin_table_A/urdf/calvin_table_A.urdf + initial_pos: + - 0 + - 0 + - 0 + initial_orn: + - 0 + - 0 + - 0 + joints: + base__slide: + initial_state: 0 + base__drawer: + initial_state: 0 + buttons: + base__button: + initial_state: 0 + effect: led + switches: + base__switch: + initial_state: 0 + effect: lightbulb + lights: + lightbulb: + link: light_link + color: + - 1 + - 1 + - 0 + - 1 + led: + link: led_link + color: + - 0 + - 1 + - 0 + - 1 + movable_objects: + block_red: + file: blocks/block_red_middle.urdf + initial_pos: any + initial_orn: any + block_blue: + file: blocks/block_blue_small.urdf + initial_pos: any + initial_orn: any + block_pink: + file: blocks/block_pink_big.urdf + initial_pos: any + initial_orn: any diff --git a/all_scale_D/scale_100/training/.hydra/hydra.yaml b/all_scale_D/scale_100/training/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6ac4a26982003b959b1d43745333f5728d4fbb83 --- /dev/null +++ b/all_scale_D/scale_100/training/.hydra/hydra.yaml @@ -0,0 +1,170 @@ +hydra: + run: + dir: /work/dlclarge2/meeso-lfp/calvin_data/task_A_A/ + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + colorlog: + (): colorlog.ColoredFormatter + format: '[%(cyan)s%(asctime)s%(reset)s][%(purple)sHYDRA%(reset)s] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: colorlog + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + colorlog: + (): colorlog.ColoredFormatter + format: '[%(cyan)s%(asctime)s%(reset)s][%(blue)s%(name)s%(reset)s][%(log_color)s%(levelname)s%(reset)s] + - %(message)s' + log_colors: + DEBUG: purple + INFO: green + WARNING: yellow + ERROR: red + CRITICAL: red + handlers: + console: + class: logging.StreamHandler + formatter: colorlog + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.run.dir=/work/dlclarge2/meeso-lfp/calvin_data/task_A_A/ + task: + - load_dir=/work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/ + - set_static_cam=false + - processes=16 + - +scene=calvin_scene_A + - show_gui=false + job: + name: datarenderer + 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 + id: ??? + num: ??? + config_name: config_rendering + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.1.1 + cwd: /home/meeso/VRENVCalvinRender/vr_env + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /home/meeso/VRENVCalvinRender/conf + schema: file + provider: main + - path: hydra_plugins.hydra_colorlog.conf + schema: pkg + provider: hydra-colorlog + - path: '' + schema: structured + provider: schema + choices: + scene: calvin_scene_A + cameras: static_gripper_tactile + cameras/cameras@cameras.tactile: tactile + cameras/cameras@cameras.gripper: gripper + cameras/cameras@cameras.static: static + hydra/env: default + hydra/callbacks: null + hydra/job_logging: colorlog + hydra/hydra_logging: colorlog + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/all_scale_D/scale_100/training/.hydra/merged_config.yaml b/all_scale_D/scale_100/training/.hydra/merged_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..23021af04d23e6477a88ad6aa66f3a8806843224 --- /dev/null +++ b/all_scale_D/scale_100/training/.hydra/merged_config.yaml @@ -0,0 +1,393 @@ +cameras: + static: + _target_: calvin_env.camera.static_camera.StaticCamera + name: static + fov: 10 + aspect: 1 + nearval: 0.01 + farval: 10 + width: 200 + height: 200 + look_at: + - -0.026242351159453392 + - -0.0302329882979393 + - 0.3920000493526459 + look_from: + - 2.871459009488717 + - -2.166602199425597 + - 2.555159848480571 + up_vector: + - 0.4041403970338857 + - 0.22629790978217404 + - 0.8862616969685161 + gripper: + _target_: calvin_env.camera.gripper_camera.GripperCamera + name: gripper + fov: 75 + aspect: 1 + nearval: 0.01 + farval: 2 + width: 84 + height: 84 + tactile: + _target_: calvin_env.camera.tactile_sensor.TactileSensor + name: tactile + width: 120 + height: 160 + digit_link_ids: + - 10 + - 12 + visualize_gui: false + config_path: conf/digit_sensor/config_digit.yml +vr_input: + vr_controller: + POSITION: 1 + ORIENTATION: 2 + ANALOG: 3 + BUTTONS: 6 + BUTTON_A: 2 + BUTTON_B: 1 + vr_controller_id: 3 + gripper_orientation_offset: + - 0 + - 3 + - 3.14 + gripper_position_offset: + - -0.2 + - 0.3 + - 0 + _target_: calvin_env.io_utils.vr_input.VrInput + limit_angle: + - 90 + - 0 + - 0 + - -1 + visualize_vr_pos: true + reset_button_queue_len: 60 +env: + _target_: calvin_env.envs.play_table_env.PlayTableSimEnv + _recursive_: false + cameras: ${cameras} + seed: 0 + bullet_time_step: 240.0 + use_vr: false + show_gui: ${show_gui} + robot_cfg: ${robot} + scene_cfg: ${scene} + use_scene_info: false + use_egl: true + control_freq: 30 +scene: + _target_: calvin_env.scene.play_table_scene.PlayTableScene + _recursive_: false + data_path: ${data_path} + global_scaling: 0.8 + euler_obs: ${robot.euler_obs} + robot_base_position: + - -0.34 + - -0.46 + - 0.24 + robot_base_orientation: + - 0 + - 0 + - 0 + robot_initial_joint_positions: + - -1.21779206 + - 1.03987646 + - 2.11978261 + - -2.34205014 + - -0.87015947 + - 1.64119353 + - 0.55344866 + surfaces: + table: + - - 0.0 + - -0.15 + - 0.46 + - - 0.35 + - -0.03 + - 0.46 + slider_left: + - - -0.32 + - 0.05 + - 0.46 + - - -0.16 + - 0.12 + - 0.46 + slider_right: + - - -0.05 + - 0.05 + - 0.46 + - - 0.13 + - 0.12 + - 0.46 + objects: + fixed_objects: + table: + file: calvin_table_D/urdf/calvin_table_D.urdf + initial_pos: + - 0 + - 0 + - 0 + initial_orn: + - 0 + - 0 + - 0 + joints: + base__slide: + initial_state: 0 + base__drawer: + initial_state: 0 + buttons: + base__button: + initial_state: 0 + effect: led + switches: + base__switch: + initial_state: 0 + effect: lightbulb + lights: + lightbulb: + link: light_link + color: + - 1 + - 1 + - 0 + - 1 + led: + link: led_link + color: + - 0 + - 1 + - 0 + - 1 + movable_objects: + block_red: + file: blocks/block_red_middle.urdf + initial_pos: any + initial_orn: any + block_blue: + file: blocks/block_blue_small.urdf + initial_pos: any + initial_orn: any + block_pink: + file: blocks/block_pink_big.urdf + initial_pos: any + initial_orn: any + name: calvin_scene_D +robot: + _target_: calvin_env.robot.robot.Robot + filename: franka_panda/panda_longer_finger.urdf + base_position: ${scene.robot_base_position} + base_orientation: ${scene.robot_base_orientation} + initial_joint_positions: ${scene.robot_initial_joint_positions} + max_joint_force: 200.0 + gripper_force: 200 + arm_joint_ids: + - 0 + - 1 + - 2 + - 3 + - 4 + - 5 + - 6 + gripper_joint_ids: + - 9 + - 11 + gripper_joint_limits: + - 0 + - 0.04 + tcp_link_id: 15 + end_effector_link_id: 7 + gripper_cam_link: 12 + use_nullspace: true + max_velocity: 2 + use_ik_fast: false + magic_scaling_factor_pos: 1 + magic_scaling_factor_orn: 1 + use_target_pose: true + euler_obs: true +tasks: + _target_: calvin_env.envs.tasks.Tasks + tasks: + rotate_red_block_right: + - rotate_object + - block_red + - -60 + rotate_red_block_left: + - rotate_object + - block_red + - 60 + rotate_blue_block_right: + - rotate_object + - block_blue + - -60 + rotate_blue_block_left: + - rotate_object + - block_blue + - 60 + rotate_pink_block_right: + - rotate_object + - block_pink + - -60 + rotate_pink_block_left: + - rotate_object + - block_pink + - 60 + push_red_block_right: + - push_object + - block_red + - 0.1 + - 0 + push_red_block_left: + - push_object + - block_red + - -0.1 + - 0 + push_blue_block_right: + - push_object + - block_blue + - 0.1 + - 0 + push_blue_block_left: + - push_object + - block_blue + - -0.1 + - 0 + push_pink_block_right: + - push_object + - block_pink + - 0.1 + - 0 + push_pink_block_left: + - push_object + - block_pink + - -0.1 + - 0 + move_slider_left: + - move_door_rel + - base__slide + - 0.15 + move_slider_right: + - move_door_rel + - base__slide + - -0.15 + open_drawer: + - move_door_rel + - base__drawer + - 0.12 + close_drawer: + - move_door_rel + - base__drawer + - -0.12 + lift_red_block_table: + - lift_object + - block_red + - 0.05 + - table + - base_link + lift_red_block_slider: + - lift_object + - block_red + - 0.03 + - table + - plank_link + lift_red_block_drawer: + - lift_object + - block_red + - 0.05 + - table + - drawer_link + lift_blue_block_table: + - lift_object + - block_blue + - 0.05 + - table + - base_link + lift_blue_block_slider: + - lift_object + - block_blue + - 0.03 + - table + - plank_link + lift_blue_block_drawer: + - lift_object + - block_blue + - 0.05 + - table + - drawer_link + lift_pink_block_table: + - lift_object + - block_pink + - 0.05 + - table + - base_link + lift_pink_block_slider: + - lift_object + - block_pink + - 0.03 + - table + - plank_link + lift_pink_block_drawer: + - lift_object + - block_pink + - 0.05 + - table + - drawer_link + place_in_slider: + - place_object + - table + - plank_link + place_in_drawer: + - place_object + - table + - drawer_link + stack_block: + - stack_objects + unstack_block: + - unstack_objects + turn_on_lightbulb: + - toggle_light + - lightbulb + - 0 + - 1 + turn_off_lightbulb: + - toggle_light + - lightbulb + - 1 + - 0 + turn_on_led: + - toggle_light + - led + - 0 + - 1 + turn_off_led: + - toggle_light + - led + - 1 + - 0 + push_into_drawer: + - push_object_into + - - block_red + - block_blue + - block_pink + - table + - base_link + - table + - drawer_link +recorder: + record: ${record} + record_fps: 30.0 + show_fps: false + enable_tts: true +seed: 0 +use_vr: true +data_path: data +save_dir: /home/meeso/recordings +record: true +load_dir: /work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-09-12/11-36-05/ +show_gui: false +processes: 16 +max_episode_frames: 1 +save_body_infos: true +set_static_cam: false diff --git a/all_scale_D/scale_100/training/.hydra/overrides.yaml b/all_scale_D/scale_100/training/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..530ed5076f96af700452db9fc96f4a75576c8f81 --- /dev/null +++ b/all_scale_D/scale_100/training/.hydra/overrides.yaml @@ -0,0 +1,5 @@ +- 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0000000000000000000000000000000000000000..35648e7ce9ae7cdc4f3b530ac72350fd156c061c --- /dev/null +++ b/all_scale_D/scale_100/training/lang_paraphrase-MiniLM-L3-v2/auto_lang_ann.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b336682ffe5a4ae4776c4ae81c153a7c058a30a1dea0ae4f78ede83054f27d5 +size 8108180 diff --git a/all_scale_D/scale_100/training/scene_info.npy b/all_scale_D/scale_100/training/scene_info.npy new file mode 100644 index 0000000000000000000000000000000000000000..f03a31f403268243f999e3765541105e2702f852 --- /dev/null +++ b/all_scale_D/scale_100/training/scene_info.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22305b276e5db506bd6d3d6d9b84b9d243b62a9d3b4a48ec94449b07a77e1db6 +size 408 diff --git a/all_scale_D/scale_100/training/statistics.yaml b/all_scale_D/scale_100/training/statistics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..956d04c395133944758761a1dce39f689bef9001 --- /dev/null +++ b/all_scale_D/scale_100/training/statistics.yaml @@ -0,0 +1,21 @@ +robot_obs: + - _target_: calvin_agent.utils.transforms.NormalizeVector + mean: [0.039233, -0.118554, 0.507826, 1.079174, -0.083069, 1.579753, + 0.054622, -0.736859, 1.017769, 1.792879, -2.099604, -0.993738, + 1.790842, 0.586534, 0.095367] + std: [0.150769, 0.1104 , 0.06253 , 2.883517, 0.126405, 0.377196, + 0.030152, 0.334392, 0.172714, 0.240513, 0.3842 , 0.198596, + 0.158712, 0.346865, 0.995442] +scene_obs: + - _target_: calvin_agent.utils.transforms.NormalizeVector + mean: [0.150934, 0.119917, 0.000239, 0.042049, 0.487755, 0.47448 , + 0.057482, -0.088074, 0.431237, 0.046034, 0.030599, 0.027333, + 0.062103, -0.092833, 0.430236, -0.054962, 0.019381, 0.096546, + 0.064944, -0.093058, 0.428381, 0.024941, 0.002746, -0.031589] + std: [ 0.125757, 0.09654 , 0.002148, 0.041916, 0.49985 , 0.499348, + 0.146225, 0.119266, 0.050408, 1.430807, 0.676023, 2.017468, + 0.142979, 0.113236, 0.049651, 1.545888, 0.3906 , 1.763569, + 0.143077, 0.11546 , 0.050363, 1.514873, 0.431664, 1.860245] + +act_min_bound: [-0.432188, -0.545456, 0.293439, -3.141593, -0.811348, -3.141573, -1. ] +act_max_bound: [0.42977 , 0.139396, 0.796262, 3.141592, 0.638583, 3.141551, 1. ] diff --git a/all_scale_D/scale_100/validation/.hydra/config.yaml b/all_scale_D/scale_100/validation/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..eb0131f97bc0efede43ce12f525b901bd239649c --- /dev/null +++ b/all_scale_D/scale_100/validation/.hydra/config.yaml @@ -0,0 +1,151 @@ +cameras: + static: + _target_: vr_env.camera.static_camera.StaticCamera + name: static + fov: 10 + aspect: 1 + nearval: 0.01 + farval: 10 + width: 200 + height: 200 + look_at: + - -0.026242351159453392 + - -0.0302329882979393 + - 0.3920000493526459 + look_from: + - 2.871459009488717 + - -2.166602199425597 + - 2.555159848480571 + up_vector: + - 0.4041403970338857 + - 0.22629790978217404 + - 0.8862616969685161 + gripper: + _target_: vr_env.camera.gripper_camera.GripperCamera + name: gripper + fov: 75 + aspect: 1 + nearval: 0.01 + farval: 2 + width: 84 + height: 84 + tactile: + _target_: vr_env.camera.tactile_sensor.TactileSensor + name: tactile + width: 120 + height: 160 + digit_link_ids: + - 10 + - 12 + visualize_gui: false + config_path: conf/digit_sensor/config_digit.yml +load_dir: /work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/ +data_path: data +save_dir: ??? +show_gui: false +processes: 16 +max_episode_frames: 1 +save_body_infos: true +set_static_cam: false +env: + cameras: ${cameras} + show_gui: ${show_gui} + use_vr: false +scene: + _target_: vr_env.scene.play_table_scene.PlayTableScene + _recursive_: false + name: calvin_scene_A + data_path: ${data_path} + global_scaling: 0.8 + euler_obs: ${robot.euler_obs} + robot_base_position: + - -0.34 + - -0.46 + - 0.24 + robot_base_orientation: + - 0 + - 0 + - 0 + robot_initial_joint_positions: + - -1.21779206 + - 1.03987646 + - 2.11978261 + - -2.34205014 + - -0.87015947 + - 1.64119353 + - 0.55344866 + surfaces: + table: + - - 0.0 + - -0.15 + - 0.46 + - - 0.35 + - -0.03 + - 0.46 + slider_left: + - - -0.32 + - 0.05 + - 0.46 + - - -0.16 + - 0.12 + - 0.46 + slider_right: + - - -0.05 + - 0.05 + - 0.46 + - - 0.13 + - 0.12 + - 0.46 + objects: + fixed_objects: + table: + file: calvin_table_A/urdf/calvin_table_A.urdf + initial_pos: + - 0 + - 0 + - 0 + initial_orn: + - 0 + - 0 + - 0 + joints: + base__slide: + initial_state: 0 + base__drawer: + initial_state: 0 + buttons: + base__button: + initial_state: 0 + effect: led + switches: + base__switch: + initial_state: 0 + effect: lightbulb + lights: + lightbulb: + link: light_link + color: + - 1 + - 1 + - 0 + - 1 + led: + link: led_link + color: + - 0 + - 1 + - 0 + - 1 + movable_objects: + block_red: + file: blocks/block_red_middle.urdf + initial_pos: any + initial_orn: any + block_blue: + file: blocks/block_blue_small.urdf + initial_pos: any + initial_orn: any + block_pink: + file: blocks/block_pink_big.urdf + initial_pos: any + initial_orn: any diff --git a/all_scale_D/scale_100/validation/.hydra/hydra.yaml b/all_scale_D/scale_100/validation/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6ac4a26982003b959b1d43745333f5728d4fbb83 --- /dev/null +++ b/all_scale_D/scale_100/validation/.hydra/hydra.yaml @@ -0,0 +1,170 @@ +hydra: + run: + dir: /work/dlclarge2/meeso-lfp/calvin_data/task_A_A/ + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + colorlog: + (): colorlog.ColoredFormatter + format: '[%(cyan)s%(asctime)s%(reset)s][%(purple)sHYDRA%(reset)s] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: colorlog + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + colorlog: + (): colorlog.ColoredFormatter + format: '[%(cyan)s%(asctime)s%(reset)s][%(blue)s%(name)s%(reset)s][%(log_color)s%(levelname)s%(reset)s] + - %(message)s' + log_colors: + DEBUG: purple + INFO: green + WARNING: yellow + ERROR: red + CRITICAL: red + handlers: + console: + class: logging.StreamHandler + formatter: colorlog + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.run.dir=/work/dlclarge2/meeso-lfp/calvin_data/task_A_A/ + task: + - load_dir=/work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/ + - set_static_cam=false + - processes=16 + - +scene=calvin_scene_A + - show_gui=false + job: + name: datarenderer + 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 + id: ??? + num: ??? + config_name: config_rendering + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.1.1 + cwd: /home/meeso/VRENVCalvinRender/vr_env + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /home/meeso/VRENVCalvinRender/conf + schema: file + provider: main + - path: hydra_plugins.hydra_colorlog.conf + schema: pkg + provider: hydra-colorlog + - path: '' + schema: structured + provider: schema + choices: + scene: calvin_scene_A + cameras: static_gripper_tactile + cameras/cameras@cameras.tactile: tactile + cameras/cameras@cameras.gripper: gripper + cameras/cameras@cameras.static: static + hydra/env: default + hydra/callbacks: null + hydra/job_logging: colorlog + hydra/hydra_logging: colorlog + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/all_scale_D/scale_100/validation/.hydra/merged_config.yaml b/all_scale_D/scale_100/validation/.hydra/merged_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..23021af04d23e6477a88ad6aa66f3a8806843224 --- /dev/null +++ b/all_scale_D/scale_100/validation/.hydra/merged_config.yaml @@ -0,0 +1,393 @@ +cameras: + static: + _target_: calvin_env.camera.static_camera.StaticCamera + name: static + fov: 10 + aspect: 1 + nearval: 0.01 + farval: 10 + width: 200 + height: 200 + look_at: + - -0.026242351159453392 + - -0.0302329882979393 + - 0.3920000493526459 + look_from: + - 2.871459009488717 + - -2.166602199425597 + - 2.555159848480571 + up_vector: + - 0.4041403970338857 + - 0.22629790978217404 + - 0.8862616969685161 + gripper: + _target_: calvin_env.camera.gripper_camera.GripperCamera + name: gripper + fov: 75 + aspect: 1 + nearval: 0.01 + farval: 2 + width: 84 + height: 84 + tactile: + _target_: calvin_env.camera.tactile_sensor.TactileSensor + name: tactile + width: 120 + height: 160 + digit_link_ids: + - 10 + - 12 + visualize_gui: false + config_path: conf/digit_sensor/config_digit.yml +vr_input: + vr_controller: + POSITION: 1 + ORIENTATION: 2 + ANALOG: 3 + BUTTONS: 6 + BUTTON_A: 2 + BUTTON_B: 1 + vr_controller_id: 3 + gripper_orientation_offset: + - 0 + - 3 + - 3.14 + gripper_position_offset: + - -0.2 + - 0.3 + - 0 + _target_: calvin_env.io_utils.vr_input.VrInput + limit_angle: + - 90 + - 0 + - 0 + - -1 + visualize_vr_pos: true + reset_button_queue_len: 60 +env: + _target_: calvin_env.envs.play_table_env.PlayTableSimEnv + _recursive_: false + cameras: ${cameras} + seed: 0 + bullet_time_step: 240.0 + use_vr: false + show_gui: ${show_gui} + robot_cfg: ${robot} + scene_cfg: ${scene} + use_scene_info: false + use_egl: true + control_freq: 30 +scene: + _target_: calvin_env.scene.play_table_scene.PlayTableScene + _recursive_: false + data_path: ${data_path} + global_scaling: 0.8 + euler_obs: ${robot.euler_obs} + robot_base_position: + - -0.34 + - -0.46 + - 0.24 + robot_base_orientation: + - 0 + - 0 + - 0 + robot_initial_joint_positions: + - -1.21779206 + - 1.03987646 + - 2.11978261 + - -2.34205014 + - -0.87015947 + - 1.64119353 + - 0.55344866 + surfaces: + table: + - - 0.0 + - -0.15 + - 0.46 + - - 0.35 + - -0.03 + - 0.46 + slider_left: + - - -0.32 + - 0.05 + - 0.46 + - - -0.16 + - 0.12 + - 0.46 + slider_right: + - - -0.05 + - 0.05 + - 0.46 + - - 0.13 + - 0.12 + - 0.46 + objects: + fixed_objects: + table: + file: calvin_table_D/urdf/calvin_table_D.urdf + initial_pos: + - 0 + - 0 + - 0 + initial_orn: + - 0 + - 0 + - 0 + joints: + base__slide: + initial_state: 0 + base__drawer: + initial_state: 0 + buttons: + base__button: + initial_state: 0 + effect: led + switches: + base__switch: + initial_state: 0 + effect: lightbulb + lights: + lightbulb: + link: light_link + color: + - 1 + - 1 + - 0 + - 1 + led: + link: led_link + color: + - 0 + - 1 + - 0 + - 1 + movable_objects: + block_red: + file: blocks/block_red_middle.urdf + initial_pos: any + initial_orn: any + block_blue: + file: blocks/block_blue_small.urdf + initial_pos: any + initial_orn: any + block_pink: + file: blocks/block_pink_big.urdf + initial_pos: any + initial_orn: any + name: calvin_scene_D +robot: + _target_: calvin_env.robot.robot.Robot + filename: franka_panda/panda_longer_finger.urdf + base_position: ${scene.robot_base_position} + base_orientation: ${scene.robot_base_orientation} + initial_joint_positions: ${scene.robot_initial_joint_positions} + max_joint_force: 200.0 + gripper_force: 200 + arm_joint_ids: + - 0 + - 1 + - 2 + - 3 + - 4 + - 5 + - 6 + gripper_joint_ids: + - 9 + - 11 + gripper_joint_limits: + - 0 + - 0.04 + tcp_link_id: 15 + end_effector_link_id: 7 + gripper_cam_link: 12 + use_nullspace: true + max_velocity: 2 + use_ik_fast: false + magic_scaling_factor_pos: 1 + magic_scaling_factor_orn: 1 + use_target_pose: true + euler_obs: true +tasks: + _target_: calvin_env.envs.tasks.Tasks + tasks: + rotate_red_block_right: + - rotate_object + - block_red + - -60 + rotate_red_block_left: + - rotate_object + - block_red + - 60 + rotate_blue_block_right: + - rotate_object + - block_blue + - -60 + rotate_blue_block_left: + - rotate_object + - block_blue + - 60 + rotate_pink_block_right: + - rotate_object + - block_pink + - -60 + rotate_pink_block_left: + - rotate_object + - block_pink + - 60 + push_red_block_right: + - push_object + - block_red + - 0.1 + - 0 + push_red_block_left: + - push_object + - block_red + - -0.1 + - 0 + push_blue_block_right: + - push_object + - block_blue + - 0.1 + - 0 + push_blue_block_left: + - push_object + - block_blue + - -0.1 + - 0 + push_pink_block_right: + - push_object + - block_pink + - 0.1 + - 0 + push_pink_block_left: + - push_object + - block_pink + - -0.1 + - 0 + move_slider_left: + - move_door_rel + - base__slide + - 0.15 + move_slider_right: + - move_door_rel + - base__slide + - -0.15 + open_drawer: + - move_door_rel + - base__drawer + - 0.12 + close_drawer: + - move_door_rel + - base__drawer + - -0.12 + lift_red_block_table: + - lift_object + - block_red + - 0.05 + - table + - base_link + lift_red_block_slider: + - lift_object + - block_red + - 0.03 + - table + - plank_link + lift_red_block_drawer: + - lift_object + - block_red + - 0.05 + - table + - drawer_link + lift_blue_block_table: + - lift_object + - block_blue + - 0.05 + - table + - base_link + lift_blue_block_slider: + - lift_object + - block_blue + - 0.03 + - table + - plank_link + lift_blue_block_drawer: + - lift_object + - block_blue + - 0.05 + - table + - drawer_link + lift_pink_block_table: + - lift_object + - block_pink + - 0.05 + - table + - base_link + lift_pink_block_slider: + - lift_object + - block_pink + - 0.03 + - table + - plank_link + lift_pink_block_drawer: + - lift_object + - block_pink + - 0.05 + - table + - drawer_link + place_in_slider: + - place_object + - table + - plank_link + place_in_drawer: + - place_object + - table + - drawer_link + stack_block: + - stack_objects + unstack_block: + - unstack_objects + turn_on_lightbulb: + - toggle_light + - lightbulb + - 0 + - 1 + turn_off_lightbulb: + - toggle_light + - lightbulb + - 1 + - 0 + turn_on_led: + - toggle_light + - led + - 0 + - 1 + turn_off_led: + - toggle_light + - led + - 1 + - 0 + push_into_drawer: + - push_object_into + - - block_red + - block_blue + - block_pink + - table + - base_link + - table + - drawer_link +recorder: + record: ${record} + record_fps: 30.0 + show_fps: false + enable_tts: true +seed: 0 +use_vr: true +data_path: data +save_dir: /home/meeso/recordings +record: true +load_dir: /work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-09-12/11-36-05/ +show_gui: false +processes: 16 +max_episode_frames: 1 +save_body_infos: true +set_static_cam: false diff --git a/all_scale_D/scale_100/validation/.hydra/overrides.yaml b/all_scale_D/scale_100/validation/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..530ed5076f96af700452db9fc96f4a75576c8f81 --- /dev/null +++ b/all_scale_D/scale_100/validation/.hydra/overrides.yaml @@ -0,0 +1,5 @@ +- load_dir=/work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/ +- set_static_cam=false +- processes=16 +- +scene=calvin_scene_A +- show_gui=false diff --git a/all_scale_D/scale_100/validation/ep_lens.npy b/all_scale_D/scale_100/validation/ep_lens.npy new file mode 100644 index 0000000000000000000000000000000000000000..df108f277dc5dc4854ab0c111bd9cb8817a32589 --- /dev/null +++ b/all_scale_D/scale_100/validation/ep_lens.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:949fa58b56382c483cbcaae264e7b1832789079fb429dc0c0bfcfc3efcc55cb1 +size 160 diff --git a/all_scale_D/scale_100/validation/ep_start_end_ids.npy b/all_scale_D/scale_100/validation/ep_start_end_ids.npy new file mode 100644 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0000000000000000000000000000000000000000..41cd2988c688baa4b630f1aed7dc9a95e4abb12b --- /dev/null +++ b/all_scale_D/scale_100/validation/lang_paraphrase-MiniLM-L3-v2/embeddings.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae8f2565f2ba8399d0605f8d93fd9a8075ebf31ed33c79d353e1a16dc3fadb08 +size 210963 diff --git a/all_scale_D/scale_100/validation/statistics.yaml b/all_scale_D/scale_100/validation/statistics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..956d04c395133944758761a1dce39f689bef9001 --- /dev/null +++ b/all_scale_D/scale_100/validation/statistics.yaml @@ -0,0 +1,21 @@ +robot_obs: + - _target_: calvin_agent.utils.transforms.NormalizeVector + mean: [0.039233, -0.118554, 0.507826, 1.079174, -0.083069, 1.579753, + 0.054622, -0.736859, 1.017769, 1.792879, -2.099604, -0.993738, + 1.790842, 0.586534, 0.095367] + std: [0.150769, 0.1104 , 0.06253 , 2.883517, 0.126405, 0.377196, + 0.030152, 0.334392, 0.172714, 0.240513, 0.3842 , 0.198596, + 0.158712, 0.346865, 0.995442] +scene_obs: + - _target_: calvin_agent.utils.transforms.NormalizeVector + mean: [0.150934, 0.119917, 0.000239, 0.042049, 0.487755, 0.47448 , + 0.057482, -0.088074, 0.431237, 0.046034, 0.030599, 0.027333, + 0.062103, -0.092833, 0.430236, -0.054962, 0.019381, 0.096546, + 0.064944, -0.093058, 0.428381, 0.024941, 0.002746, -0.031589] + std: [ 0.125757, 0.09654 , 0.002148, 0.041916, 0.49985 , 0.499348, + 0.146225, 0.119266, 0.050408, 1.430807, 0.676023, 2.017468, + 0.142979, 0.113236, 0.049651, 1.545888, 0.3906 , 1.763569, + 0.143077, 0.11546 , 0.050363, 1.514873, 0.431664, 1.860245] + +act_min_bound: [-0.432188, -0.545456, 0.293439, -3.141593, -0.811348, -3.141573, -1. ] +act_max_bound: [0.42977 , 0.139396, 0.796262, 3.141592, 0.638583, 3.141551, 1. ] diff --git a/all_scale_D/scale_30/training/.hydra/config.yaml b/all_scale_D/scale_30/training/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..eb0131f97bc0efede43ce12f525b901bd239649c --- /dev/null +++ b/all_scale_D/scale_30/training/.hydra/config.yaml @@ -0,0 +1,151 @@ +cameras: + static: + _target_: vr_env.camera.static_camera.StaticCamera + name: static + fov: 10 + aspect: 1 + nearval: 0.01 + farval: 10 + width: 200 + height: 200 + look_at: + - -0.026242351159453392 + - -0.0302329882979393 + - 0.3920000493526459 + look_from: + - 2.871459009488717 + - -2.166602199425597 + - 2.555159848480571 + up_vector: + - 0.4041403970338857 + - 0.22629790978217404 + - 0.8862616969685161 + gripper: + _target_: vr_env.camera.gripper_camera.GripperCamera + name: gripper + fov: 75 + aspect: 1 + nearval: 0.01 + farval: 2 + width: 84 + height: 84 + tactile: + _target_: vr_env.camera.tactile_sensor.TactileSensor + name: tactile + width: 120 + height: 160 + digit_link_ids: + - 10 + - 12 + visualize_gui: false + config_path: conf/digit_sensor/config_digit.yml +load_dir: /work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/ +data_path: data +save_dir: ??? +show_gui: false +processes: 16 +max_episode_frames: 1 +save_body_infos: true +set_static_cam: false +env: + cameras: ${cameras} + show_gui: ${show_gui} + use_vr: false +scene: + _target_: vr_env.scene.play_table_scene.PlayTableScene + _recursive_: false + name: calvin_scene_A + data_path: ${data_path} + global_scaling: 0.8 + euler_obs: ${robot.euler_obs} + robot_base_position: + - -0.34 + - -0.46 + - 0.24 + robot_base_orientation: + - 0 + - 0 + - 0 + robot_initial_joint_positions: + - -1.21779206 + - 1.03987646 + - 2.11978261 + - -2.34205014 + - -0.87015947 + - 1.64119353 + - 0.55344866 + surfaces: + table: + - - 0.0 + - -0.15 + - 0.46 + - - 0.35 + - -0.03 + - 0.46 + slider_left: + - - -0.32 + - 0.05 + - 0.46 + - - -0.16 + - 0.12 + - 0.46 + slider_right: + - - -0.05 + - 0.05 + - 0.46 + - - 0.13 + - 0.12 + - 0.46 + objects: + fixed_objects: + table: + file: calvin_table_A/urdf/calvin_table_A.urdf + initial_pos: + - 0 + - 0 + - 0 + initial_orn: + - 0 + - 0 + - 0 + joints: + base__slide: + initial_state: 0 + base__drawer: + initial_state: 0 + buttons: + base__button: + initial_state: 0 + effect: led + switches: + base__switch: + initial_state: 0 + effect: lightbulb + lights: + lightbulb: + link: light_link + color: + - 1 + - 1 + - 0 + - 1 + led: + link: led_link + color: + - 0 + - 1 + - 0 + - 1 + movable_objects: + block_red: + file: blocks/block_red_middle.urdf + initial_pos: any + initial_orn: any + block_blue: + file: blocks/block_blue_small.urdf + initial_pos: any + initial_orn: any + block_pink: + file: blocks/block_pink_big.urdf + initial_pos: any + initial_orn: any diff --git a/all_scale_D/scale_30/training/.hydra/hydra.yaml b/all_scale_D/scale_30/training/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6ac4a26982003b959b1d43745333f5728d4fbb83 --- /dev/null +++ b/all_scale_D/scale_30/training/.hydra/hydra.yaml @@ -0,0 +1,170 @@ +hydra: + run: + dir: /work/dlclarge2/meeso-lfp/calvin_data/task_A_A/ + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + colorlog: + (): colorlog.ColoredFormatter + format: '[%(cyan)s%(asctime)s%(reset)s][%(purple)sHYDRA%(reset)s] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: colorlog + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + colorlog: + (): colorlog.ColoredFormatter + format: '[%(cyan)s%(asctime)s%(reset)s][%(blue)s%(name)s%(reset)s][%(log_color)s%(levelname)s%(reset)s] + - %(message)s' + log_colors: + DEBUG: purple + INFO: green + WARNING: yellow + ERROR: red + CRITICAL: red + handlers: + console: + class: logging.StreamHandler + formatter: colorlog + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.run.dir=/work/dlclarge2/meeso-lfp/calvin_data/task_A_A/ + task: + - load_dir=/work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/ + - set_static_cam=false + - processes=16 + - +scene=calvin_scene_A + - show_gui=false + job: + name: datarenderer + 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 + id: ??? + num: ??? + config_name: config_rendering + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.1.1 + cwd: /home/meeso/VRENVCalvinRender/vr_env + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /home/meeso/VRENVCalvinRender/conf + schema: file + provider: main + - path: hydra_plugins.hydra_colorlog.conf + schema: pkg + provider: hydra-colorlog + - path: '' + schema: structured + provider: schema + choices: + scene: calvin_scene_A + cameras: static_gripper_tactile + cameras/cameras@cameras.tactile: tactile + cameras/cameras@cameras.gripper: gripper + cameras/cameras@cameras.static: static + hydra/env: default + hydra/callbacks: null + hydra/job_logging: colorlog + hydra/hydra_logging: colorlog + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/all_scale_D/scale_30/training/.hydra/merged_config.yaml b/all_scale_D/scale_30/training/.hydra/merged_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..23021af04d23e6477a88ad6aa66f3a8806843224 --- /dev/null +++ b/all_scale_D/scale_30/training/.hydra/merged_config.yaml @@ -0,0 +1,393 @@ +cameras: + static: + _target_: calvin_env.camera.static_camera.StaticCamera + name: static + fov: 10 + aspect: 1 + nearval: 0.01 + farval: 10 + width: 200 + height: 200 + look_at: + - -0.026242351159453392 + - -0.0302329882979393 + - 0.3920000493526459 + look_from: + - 2.871459009488717 + - -2.166602199425597 + - 2.555159848480571 + up_vector: + - 0.4041403970338857 + - 0.22629790978217404 + - 0.8862616969685161 + gripper: + _target_: calvin_env.camera.gripper_camera.GripperCamera + name: gripper + fov: 75 + aspect: 1 + nearval: 0.01 + farval: 2 + width: 84 + height: 84 + tactile: + _target_: calvin_env.camera.tactile_sensor.TactileSensor + name: tactile + width: 120 + height: 160 + digit_link_ids: + - 10 + - 12 + visualize_gui: false + config_path: conf/digit_sensor/config_digit.yml +vr_input: + vr_controller: + POSITION: 1 + ORIENTATION: 2 + ANALOG: 3 + BUTTONS: 6 + BUTTON_A: 2 + BUTTON_B: 1 + vr_controller_id: 3 + gripper_orientation_offset: + - 0 + - 3 + - 3.14 + gripper_position_offset: + - -0.2 + - 0.3 + - 0 + _target_: calvin_env.io_utils.vr_input.VrInput + limit_angle: + - 90 + - 0 + - 0 + - -1 + visualize_vr_pos: true + reset_button_queue_len: 60 +env: + _target_: calvin_env.envs.play_table_env.PlayTableSimEnv + _recursive_: false + cameras: ${cameras} + seed: 0 + bullet_time_step: 240.0 + use_vr: false + show_gui: ${show_gui} + robot_cfg: ${robot} + scene_cfg: ${scene} + use_scene_info: false + use_egl: true + control_freq: 30 +scene: + _target_: calvin_env.scene.play_table_scene.PlayTableScene + _recursive_: false + data_path: ${data_path} + global_scaling: 0.8 + euler_obs: ${robot.euler_obs} + robot_base_position: + - -0.34 + - -0.46 + - 0.24 + robot_base_orientation: + - 0 + - 0 + - 0 + robot_initial_joint_positions: + - -1.21779206 + - 1.03987646 + - 2.11978261 + - -2.34205014 + - -0.87015947 + - 1.64119353 + - 0.55344866 + surfaces: + table: + - - 0.0 + - -0.15 + - 0.46 + - - 0.35 + - -0.03 + - 0.46 + slider_left: + - - -0.32 + - 0.05 + - 0.46 + - - -0.16 + - 0.12 + - 0.46 + slider_right: + - - -0.05 + - 0.05 + - 0.46 + - - 0.13 + - 0.12 + - 0.46 + objects: + fixed_objects: + table: + file: calvin_table_D/urdf/calvin_table_D.urdf + initial_pos: + - 0 + - 0 + - 0 + initial_orn: + - 0 + - 0 + - 0 + joints: + base__slide: + initial_state: 0 + base__drawer: + initial_state: 0 + buttons: + base__button: + initial_state: 0 + effect: led + switches: + base__switch: + initial_state: 0 + effect: lightbulb + lights: + lightbulb: + link: light_link + color: + - 1 + - 1 + - 0 + - 1 + led: + link: led_link + color: + - 0 + - 1 + - 0 + - 1 + movable_objects: + block_red: + file: blocks/block_red_middle.urdf + initial_pos: any + initial_orn: any + block_blue: + file: blocks/block_blue_small.urdf + initial_pos: any + initial_orn: any + block_pink: + file: blocks/block_pink_big.urdf + initial_pos: any + initial_orn: any + name: calvin_scene_D +robot: + _target_: calvin_env.robot.robot.Robot + filename: franka_panda/panda_longer_finger.urdf + base_position: ${scene.robot_base_position} + base_orientation: ${scene.robot_base_orientation} + initial_joint_positions: ${scene.robot_initial_joint_positions} + max_joint_force: 200.0 + gripper_force: 200 + arm_joint_ids: + - 0 + - 1 + - 2 + - 3 + - 4 + - 5 + - 6 + gripper_joint_ids: + - 9 + - 11 + gripper_joint_limits: + - 0 + - 0.04 + tcp_link_id: 15 + end_effector_link_id: 7 + gripper_cam_link: 12 + use_nullspace: true + max_velocity: 2 + use_ik_fast: false + magic_scaling_factor_pos: 1 + magic_scaling_factor_orn: 1 + use_target_pose: true + euler_obs: true +tasks: + _target_: calvin_env.envs.tasks.Tasks + tasks: + rotate_red_block_right: + - rotate_object + - block_red + - -60 + rotate_red_block_left: + - rotate_object + - block_red + - 60 + rotate_blue_block_right: + - rotate_object + - block_blue + - -60 + rotate_blue_block_left: + - rotate_object + - block_blue + - 60 + rotate_pink_block_right: + - rotate_object + - block_pink + - -60 + rotate_pink_block_left: + - rotate_object + - block_pink + - 60 + push_red_block_right: + - push_object + - block_red + - 0.1 + - 0 + push_red_block_left: + - push_object + - block_red + - -0.1 + - 0 + push_blue_block_right: + - push_object + - block_blue + - 0.1 + - 0 + push_blue_block_left: + - push_object + - block_blue + - -0.1 + - 0 + push_pink_block_right: + - push_object + - block_pink + - 0.1 + - 0 + push_pink_block_left: + - push_object + - block_pink + - -0.1 + - 0 + move_slider_left: + - move_door_rel + - base__slide + - 0.15 + move_slider_right: + - move_door_rel + - base__slide + - -0.15 + open_drawer: + - move_door_rel + - base__drawer + - 0.12 + close_drawer: + - move_door_rel + - base__drawer + - -0.12 + lift_red_block_table: + - lift_object + - block_red + - 0.05 + - table + - base_link + lift_red_block_slider: + - lift_object + - block_red + - 0.03 + - table + - plank_link + lift_red_block_drawer: + - lift_object + - block_red + - 0.05 + - table + - drawer_link + lift_blue_block_table: + - lift_object + - block_blue + - 0.05 + - table + - base_link + lift_blue_block_slider: + - lift_object + - block_blue + - 0.03 + - table + - plank_link + lift_blue_block_drawer: + - lift_object + - block_blue + - 0.05 + - table + - drawer_link + lift_pink_block_table: + - lift_object + - block_pink + - 0.05 + - table + - base_link + lift_pink_block_slider: + - lift_object + - block_pink + - 0.03 + - table + - plank_link + lift_pink_block_drawer: + - lift_object + - block_pink + - 0.05 + - table + - drawer_link + place_in_slider: + - place_object + - table + - plank_link + place_in_drawer: + - place_object + - table + - drawer_link + stack_block: + - stack_objects + unstack_block: + - unstack_objects + turn_on_lightbulb: + - toggle_light + - lightbulb + - 0 + - 1 + turn_off_lightbulb: + - toggle_light + - lightbulb + - 1 + - 0 + turn_on_led: + - toggle_light + - led + - 0 + - 1 + turn_off_led: + - toggle_light + - led + - 1 + - 0 + push_into_drawer: + - push_object_into + - - block_red + - block_blue + - block_pink + - table + - base_link + - table + - drawer_link +recorder: + record: ${record} + record_fps: 30.0 + show_fps: false + enable_tts: true +seed: 0 +use_vr: true +data_path: data +save_dir: /home/meeso/recordings +record: true +load_dir: /work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-09-12/11-36-05/ +show_gui: false +processes: 16 +max_episode_frames: 1 +save_body_infos: true +set_static_cam: false diff --git a/all_scale_D/scale_30/training/.hydra/overrides.yaml b/all_scale_D/scale_30/training/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..530ed5076f96af700452db9fc96f4a75576c8f81 --- /dev/null +++ b/all_scale_D/scale_30/training/.hydra/overrides.yaml @@ -0,0 +1,5 @@ +- load_dir=/work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/ +- set_static_cam=false +- processes=16 +- +scene=calvin_scene_A +- show_gui=false diff --git a/all_scale_D/scale_30/training/ep_lens.npy b/all_scale_D/scale_30/training/ep_lens.npy new file mode 100644 index 0000000000000000000000000000000000000000..4a0a74bef1c685f278c01e0e72e3eee2dccda0d3 --- /dev/null +++ b/all_scale_D/scale_30/training/ep_lens.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86d6dc0b44ab7910669786fdb8a24a00b54b5806d7a33b3339f5da47d6b6deec +size 376 diff --git a/all_scale_D/scale_30/training/ep_start_end_ids.npy b/all_scale_D/scale_30/training/ep_start_end_ids.npy new file mode 100644 index 0000000000000000000000000000000000000000..59dc77d8d4806e64c9b437ecfdf1b8a8393b3169 --- /dev/null +++ b/all_scale_D/scale_30/training/ep_start_end_ids.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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b/all_scale_D/scale_30/training/lang_paraphrase-MiniLM-L3-v2/auto_lang_ann.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b336682ffe5a4ae4776c4ae81c153a7c058a30a1dea0ae4f78ede83054f27d5 +size 8108180 diff --git a/all_scale_D/scale_30/training/scene_info.npy b/all_scale_D/scale_30/training/scene_info.npy new file mode 100644 index 0000000000000000000000000000000000000000..f03a31f403268243f999e3765541105e2702f852 --- /dev/null +++ b/all_scale_D/scale_30/training/scene_info.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22305b276e5db506bd6d3d6d9b84b9d243b62a9d3b4a48ec94449b07a77e1db6 +size 408 diff --git a/all_scale_D/scale_30/training/statistics.yaml b/all_scale_D/scale_30/training/statistics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..956d04c395133944758761a1dce39f689bef9001 --- /dev/null +++ b/all_scale_D/scale_30/training/statistics.yaml @@ -0,0 +1,21 @@ +robot_obs: + - _target_: calvin_agent.utils.transforms.NormalizeVector + mean: [0.039233, -0.118554, 0.507826, 1.079174, -0.083069, 1.579753, + 0.054622, -0.736859, 1.017769, 1.792879, -2.099604, -0.993738, + 1.790842, 0.586534, 0.095367] + std: [0.150769, 0.1104 , 0.06253 , 2.883517, 0.126405, 0.377196, + 0.030152, 0.334392, 0.172714, 0.240513, 0.3842 , 0.198596, + 0.158712, 0.346865, 0.995442] +scene_obs: + - _target_: calvin_agent.utils.transforms.NormalizeVector + mean: [0.150934, 0.119917, 0.000239, 0.042049, 0.487755, 0.47448 , + 0.057482, -0.088074, 0.431237, 0.046034, 0.030599, 0.027333, + 0.062103, -0.092833, 0.430236, -0.054962, 0.019381, 0.096546, + 0.064944, -0.093058, 0.428381, 0.024941, 0.002746, -0.031589] + std: [ 0.125757, 0.09654 , 0.002148, 0.041916, 0.49985 , 0.499348, + 0.146225, 0.119266, 0.050408, 1.430807, 0.676023, 2.017468, + 0.142979, 0.113236, 0.049651, 1.545888, 0.3906 , 1.763569, + 0.143077, 0.11546 , 0.050363, 1.514873, 0.431664, 1.860245] + +act_min_bound: [-0.432188, -0.545456, 0.293439, -3.141593, -0.811348, -3.141573, -1. ] +act_max_bound: [0.42977 , 0.139396, 0.796262, 3.141592, 0.638583, 3.141551, 1. ] diff --git a/all_scale_D/scale_30/validation/.hydra/config.yaml b/all_scale_D/scale_30/validation/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..eb0131f97bc0efede43ce12f525b901bd239649c --- /dev/null +++ b/all_scale_D/scale_30/validation/.hydra/config.yaml @@ -0,0 +1,151 @@ +cameras: + static: + _target_: vr_env.camera.static_camera.StaticCamera + name: static + fov: 10 + aspect: 1 + nearval: 0.01 + farval: 10 + width: 200 + height: 200 + look_at: + - -0.026242351159453392 + - -0.0302329882979393 + - 0.3920000493526459 + look_from: + - 2.871459009488717 + - -2.166602199425597 + - 2.555159848480571 + up_vector: + - 0.4041403970338857 + - 0.22629790978217404 + - 0.8862616969685161 + gripper: + _target_: vr_env.camera.gripper_camera.GripperCamera + name: gripper + fov: 75 + aspect: 1 + nearval: 0.01 + farval: 2 + width: 84 + height: 84 + tactile: + _target_: vr_env.camera.tactile_sensor.TactileSensor + name: tactile + width: 120 + height: 160 + digit_link_ids: + - 10 + - 12 + visualize_gui: false + config_path: conf/digit_sensor/config_digit.yml +load_dir: /work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/ +data_path: data +save_dir: ??? +show_gui: false +processes: 16 +max_episode_frames: 1 +save_body_infos: true +set_static_cam: false +env: + cameras: ${cameras} + show_gui: ${show_gui} + use_vr: false +scene: + _target_: vr_env.scene.play_table_scene.PlayTableScene + _recursive_: false + name: calvin_scene_A + data_path: ${data_path} + global_scaling: 0.8 + euler_obs: ${robot.euler_obs} + robot_base_position: + - -0.34 + - -0.46 + - 0.24 + robot_base_orientation: + - 0 + - 0 + - 0 + robot_initial_joint_positions: + - -1.21779206 + - 1.03987646 + - 2.11978261 + - -2.34205014 + - -0.87015947 + - 1.64119353 + - 0.55344866 + surfaces: + table: + - - 0.0 + - -0.15 + - 0.46 + - - 0.35 + - -0.03 + - 0.46 + slider_left: + - - -0.32 + - 0.05 + - 0.46 + - - -0.16 + - 0.12 + - 0.46 + slider_right: + - - -0.05 + - 0.05 + - 0.46 + - - 0.13 + - 0.12 + - 0.46 + objects: + fixed_objects: + table: + file: calvin_table_A/urdf/calvin_table_A.urdf + initial_pos: + - 0 + - 0 + - 0 + initial_orn: + - 0 + - 0 + - 0 + joints: + base__slide: + initial_state: 0 + base__drawer: + initial_state: 0 + buttons: + base__button: + initial_state: 0 + effect: led + switches: + base__switch: + initial_state: 0 + effect: lightbulb + lights: + lightbulb: + link: light_link + color: + - 1 + - 1 + - 0 + - 1 + led: + link: led_link + color: + - 0 + - 1 + - 0 + - 1 + movable_objects: + block_red: + file: blocks/block_red_middle.urdf + initial_pos: any + initial_orn: any + block_blue: + file: blocks/block_blue_small.urdf + initial_pos: any + initial_orn: any + block_pink: + file: blocks/block_pink_big.urdf + initial_pos: any + initial_orn: any diff --git a/all_scale_D/scale_30/validation/.hydra/hydra.yaml b/all_scale_D/scale_30/validation/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6ac4a26982003b959b1d43745333f5728d4fbb83 --- /dev/null +++ b/all_scale_D/scale_30/validation/.hydra/hydra.yaml @@ -0,0 +1,170 @@ +hydra: + run: + dir: /work/dlclarge2/meeso-lfp/calvin_data/task_A_A/ + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + colorlog: + (): colorlog.ColoredFormatter + format: '[%(cyan)s%(asctime)s%(reset)s][%(purple)sHYDRA%(reset)s] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: colorlog + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + colorlog: + (): colorlog.ColoredFormatter + format: '[%(cyan)s%(asctime)s%(reset)s][%(blue)s%(name)s%(reset)s][%(log_color)s%(levelname)s%(reset)s] + - %(message)s' + log_colors: + DEBUG: purple + INFO: green + WARNING: yellow + ERROR: red + CRITICAL: red + handlers: + console: + class: logging.StreamHandler + formatter: colorlog + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.run.dir=/work/dlclarge2/meeso-lfp/calvin_data/task_A_A/ + task: + - load_dir=/work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/ + - set_static_cam=false + - processes=16 + - +scene=calvin_scene_A + - show_gui=false + job: + name: datarenderer + 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 + id: ??? + num: ??? + config_name: config_rendering + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.1.1 + cwd: /home/meeso/VRENVCalvinRender/vr_env + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /home/meeso/VRENVCalvinRender/conf + schema: file + provider: main + - path: hydra_plugins.hydra_colorlog.conf + schema: pkg + provider: hydra-colorlog + - path: '' + schema: structured + provider: schema + choices: + scene: calvin_scene_A + cameras: static_gripper_tactile + cameras/cameras@cameras.tactile: tactile + cameras/cameras@cameras.gripper: gripper + cameras/cameras@cameras.static: static + hydra/env: default + hydra/callbacks: null + hydra/job_logging: colorlog + hydra/hydra_logging: colorlog + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/all_scale_D/scale_30/validation/.hydra/merged_config.yaml b/all_scale_D/scale_30/validation/.hydra/merged_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..23021af04d23e6477a88ad6aa66f3a8806843224 --- /dev/null +++ b/all_scale_D/scale_30/validation/.hydra/merged_config.yaml @@ -0,0 +1,393 @@ +cameras: + static: + _target_: calvin_env.camera.static_camera.StaticCamera + name: static + fov: 10 + aspect: 1 + nearval: 0.01 + farval: 10 + width: 200 + height: 200 + look_at: + - -0.026242351159453392 + - -0.0302329882979393 + - 0.3920000493526459 + look_from: + - 2.871459009488717 + - -2.166602199425597 + - 2.555159848480571 + up_vector: + - 0.4041403970338857 + - 0.22629790978217404 + - 0.8862616969685161 + gripper: + _target_: calvin_env.camera.gripper_camera.GripperCamera + name: gripper + fov: 75 + aspect: 1 + nearval: 0.01 + farval: 2 + width: 84 + height: 84 + tactile: + _target_: calvin_env.camera.tactile_sensor.TactileSensor + name: tactile + width: 120 + height: 160 + digit_link_ids: + - 10 + - 12 + visualize_gui: false + config_path: conf/digit_sensor/config_digit.yml +vr_input: + vr_controller: + POSITION: 1 + ORIENTATION: 2 + ANALOG: 3 + BUTTONS: 6 + BUTTON_A: 2 + BUTTON_B: 1 + vr_controller_id: 3 + gripper_orientation_offset: + - 0 + - 3 + - 3.14 + gripper_position_offset: + - -0.2 + - 0.3 + - 0 + _target_: calvin_env.io_utils.vr_input.VrInput + limit_angle: + - 90 + - 0 + - 0 + - -1 + visualize_vr_pos: true + reset_button_queue_len: 60 +env: + _target_: calvin_env.envs.play_table_env.PlayTableSimEnv + _recursive_: false + cameras: ${cameras} + seed: 0 + bullet_time_step: 240.0 + use_vr: false + show_gui: ${show_gui} + robot_cfg: ${robot} + scene_cfg: ${scene} + use_scene_info: false + use_egl: true + control_freq: 30 +scene: + _target_: calvin_env.scene.play_table_scene.PlayTableScene + _recursive_: false + data_path: ${data_path} + global_scaling: 0.8 + euler_obs: ${robot.euler_obs} + robot_base_position: + - -0.34 + - -0.46 + - 0.24 + robot_base_orientation: + - 0 + - 0 + - 0 + robot_initial_joint_positions: + - -1.21779206 + - 1.03987646 + - 2.11978261 + - -2.34205014 + - -0.87015947 + - 1.64119353 + - 0.55344866 + surfaces: + table: + - - 0.0 + - -0.15 + - 0.46 + - - 0.35 + - -0.03 + - 0.46 + slider_left: + - - -0.32 + - 0.05 + - 0.46 + - - -0.16 + - 0.12 + - 0.46 + slider_right: + - - -0.05 + - 0.05 + - 0.46 + - - 0.13 + - 0.12 + - 0.46 + objects: + fixed_objects: + table: + file: calvin_table_D/urdf/calvin_table_D.urdf + initial_pos: + - 0 + - 0 + - 0 + initial_orn: + - 0 + - 0 + - 0 + joints: + base__slide: + initial_state: 0 + base__drawer: + initial_state: 0 + buttons: + base__button: + initial_state: 0 + effect: led + switches: + base__switch: + initial_state: 0 + effect: lightbulb + lights: + lightbulb: + link: light_link + color: + - 1 + - 1 + - 0 + - 1 + led: + link: led_link + color: + - 0 + - 1 + - 0 + - 1 + movable_objects: + block_red: + file: blocks/block_red_middle.urdf + initial_pos: any + initial_orn: any + block_blue: + file: blocks/block_blue_small.urdf + initial_pos: any + initial_orn: any + block_pink: + file: blocks/block_pink_big.urdf + initial_pos: any + initial_orn: any + name: calvin_scene_D +robot: + _target_: calvin_env.robot.robot.Robot + filename: franka_panda/panda_longer_finger.urdf + base_position: ${scene.robot_base_position} + base_orientation: ${scene.robot_base_orientation} + initial_joint_positions: ${scene.robot_initial_joint_positions} + max_joint_force: 200.0 + gripper_force: 200 + arm_joint_ids: + - 0 + - 1 + - 2 + - 3 + - 4 + - 5 + - 6 + gripper_joint_ids: + - 9 + - 11 + gripper_joint_limits: + - 0 + - 0.04 + tcp_link_id: 15 + end_effector_link_id: 7 + gripper_cam_link: 12 + use_nullspace: true + max_velocity: 2 + use_ik_fast: false + magic_scaling_factor_pos: 1 + magic_scaling_factor_orn: 1 + use_target_pose: true + euler_obs: true +tasks: + _target_: calvin_env.envs.tasks.Tasks + tasks: + rotate_red_block_right: + - rotate_object + - block_red + - -60 + rotate_red_block_left: + - rotate_object + - block_red + - 60 + rotate_blue_block_right: + - rotate_object + - block_blue + - -60 + rotate_blue_block_left: + - rotate_object + - block_blue + - 60 + rotate_pink_block_right: + - rotate_object + - block_pink + - -60 + rotate_pink_block_left: + - rotate_object + - block_pink + - 60 + push_red_block_right: + - push_object + - block_red + - 0.1 + - 0 + push_red_block_left: + - push_object + - block_red + - -0.1 + - 0 + push_blue_block_right: + - push_object + - block_blue + - 0.1 + - 0 + push_blue_block_left: + - push_object + - block_blue + - -0.1 + - 0 + push_pink_block_right: + - push_object + - block_pink + - 0.1 + - 0 + push_pink_block_left: + - push_object + - block_pink + - -0.1 + - 0 + move_slider_left: + - move_door_rel + - base__slide + - 0.15 + move_slider_right: + - move_door_rel + - base__slide + - -0.15 + open_drawer: + - move_door_rel + - base__drawer + - 0.12 + close_drawer: + - move_door_rel + - base__drawer + - -0.12 + lift_red_block_table: + - lift_object + - block_red + - 0.05 + - table + - base_link + lift_red_block_slider: + - lift_object + - block_red + - 0.03 + - table + - plank_link + lift_red_block_drawer: + - lift_object + - block_red + - 0.05 + - table + - drawer_link + lift_blue_block_table: + - lift_object + - block_blue + - 0.05 + - table + - base_link + lift_blue_block_slider: + - lift_object + - block_blue + - 0.03 + - table + - plank_link + lift_blue_block_drawer: + - lift_object + - block_blue + - 0.05 + - table + - drawer_link + lift_pink_block_table: + - lift_object + - block_pink + - 0.05 + - table + - base_link + lift_pink_block_slider: + - lift_object + - block_pink + - 0.03 + - table + - plank_link + lift_pink_block_drawer: + - lift_object + - block_pink + - 0.05 + - table + - drawer_link + place_in_slider: + - place_object + - table + - plank_link + place_in_drawer: + - place_object + - table + - drawer_link + stack_block: + - stack_objects + unstack_block: + - unstack_objects + turn_on_lightbulb: + - toggle_light + - lightbulb + - 0 + - 1 + turn_off_lightbulb: + - toggle_light + - lightbulb + - 1 + - 0 + turn_on_led: + - toggle_light + - led + - 0 + - 1 + turn_off_led: + - toggle_light + - led + - 1 + - 0 + push_into_drawer: + - push_object_into + - - block_red + - block_blue + - block_pink + - table + - base_link + - table + - drawer_link +recorder: + record: ${record} + record_fps: 30.0 + show_fps: false + enable_tts: true +seed: 0 +use_vr: true +data_path: data +save_dir: /home/meeso/recordings +record: true +load_dir: /work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-09-12/11-36-05/ +show_gui: false +processes: 16 +max_episode_frames: 1 +save_body_infos: true +set_static_cam: false diff --git a/all_scale_D/scale_30/validation/.hydra/overrides.yaml b/all_scale_D/scale_30/validation/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..530ed5076f96af700452db9fc96f4a75576c8f81 --- /dev/null +++ b/all_scale_D/scale_30/validation/.hydra/overrides.yaml @@ -0,0 +1,5 @@ +- load_dir=/work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/ +- set_static_cam=false +- processes=16 +- +scene=calvin_scene_A +- show_gui=false diff --git a/all_scale_D/scale_30/validation/ep_lens.npy b/all_scale_D/scale_30/validation/ep_lens.npy new file mode 100644 index 0000000000000000000000000000000000000000..df108f277dc5dc4854ab0c111bd9cb8817a32589 --- /dev/null +++ b/all_scale_D/scale_30/validation/ep_lens.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:949fa58b56382c483cbcaae264e7b1832789079fb429dc0c0bfcfc3efcc55cb1 +size 160 diff --git a/all_scale_D/scale_30/validation/ep_start_end_ids.npy b/all_scale_D/scale_30/validation/ep_start_end_ids.npy new file mode 100644 index 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b/all_scale_D/scale_30/validation/lang_msmarco-bert-base-dot-v5/embeddings.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8312b5077ac33789b2654c9f806b05472d5328dc48d9e670ada2212726c02a3 +size 263189 diff --git a/all_scale_D/scale_30/validation/lang_paraphrase-MiniLM-L3-v2/auto_lang_ann.npy b/all_scale_D/scale_30/validation/lang_paraphrase-MiniLM-L3-v2/auto_lang_ann.npy new file mode 100644 index 0000000000000000000000000000000000000000..1b15bce0782e7366c802d9e9362dc1cf4ec9d025 --- /dev/null +++ b/all_scale_D/scale_30/validation/lang_paraphrase-MiniLM-L3-v2/auto_lang_ann.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8cd4315ac2f740d691facf827f4005661d1f997304280c573b83d962d1cd77da +size 1617294 diff --git a/all_scale_D/scale_30/validation/lang_paraphrase-MiniLM-L3-v2/embeddings.npy b/all_scale_D/scale_30/validation/lang_paraphrase-MiniLM-L3-v2/embeddings.npy new file mode 100644 index 0000000000000000000000000000000000000000..41cd2988c688baa4b630f1aed7dc9a95e4abb12b --- /dev/null +++ b/all_scale_D/scale_30/validation/lang_paraphrase-MiniLM-L3-v2/embeddings.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae8f2565f2ba8399d0605f8d93fd9a8075ebf31ed33c79d353e1a16dc3fadb08 +size 210963 diff --git a/all_scale_D/scale_30/validation/statistics.yaml b/all_scale_D/scale_30/validation/statistics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..956d04c395133944758761a1dce39f689bef9001 --- /dev/null +++ b/all_scale_D/scale_30/validation/statistics.yaml @@ -0,0 +1,21 @@ +robot_obs: + - _target_: calvin_agent.utils.transforms.NormalizeVector + mean: [0.039233, -0.118554, 0.507826, 1.079174, -0.083069, 1.579753, + 0.054622, -0.736859, 1.017769, 1.792879, -2.099604, -0.993738, + 1.790842, 0.586534, 0.095367] + std: [0.150769, 0.1104 , 0.06253 , 2.883517, 0.126405, 0.377196, + 0.030152, 0.334392, 0.172714, 0.240513, 0.3842 , 0.198596, + 0.158712, 0.346865, 0.995442] +scene_obs: + - _target_: calvin_agent.utils.transforms.NormalizeVector + mean: [0.150934, 0.119917, 0.000239, 0.042049, 0.487755, 0.47448 , + 0.057482, -0.088074, 0.431237, 0.046034, 0.030599, 0.027333, + 0.062103, -0.092833, 0.430236, -0.054962, 0.019381, 0.096546, + 0.064944, -0.093058, 0.428381, 0.024941, 0.002746, -0.031589] + std: [ 0.125757, 0.09654 , 0.002148, 0.041916, 0.49985 , 0.499348, + 0.146225, 0.119266, 0.050408, 1.430807, 0.676023, 2.017468, + 0.142979, 0.113236, 0.049651, 1.545888, 0.3906 , 1.763569, + 0.143077, 0.11546 , 0.050363, 1.514873, 0.431664, 1.860245] + +act_min_bound: [-0.432188, -0.545456, 0.293439, -3.141593, -0.811348, -3.141573, -1. ] +act_max_bound: [0.42977 , 0.139396, 0.796262, 3.141592, 0.638583, 3.141551, 1. ] diff --git a/all_scale_D/scale_50/training/.hydra/config.yaml b/all_scale_D/scale_50/training/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..eb0131f97bc0efede43ce12f525b901bd239649c --- /dev/null +++ b/all_scale_D/scale_50/training/.hydra/config.yaml @@ -0,0 +1,151 @@ +cameras: + static: + _target_: vr_env.camera.static_camera.StaticCamera + name: static + fov: 10 + aspect: 1 + nearval: 0.01 + farval: 10 + width: 200 + height: 200 + look_at: + - -0.026242351159453392 + - -0.0302329882979393 + - 0.3920000493526459 + look_from: + - 2.871459009488717 + - -2.166602199425597 + - 2.555159848480571 + up_vector: + - 0.4041403970338857 + - 0.22629790978217404 + - 0.8862616969685161 + gripper: + _target_: vr_env.camera.gripper_camera.GripperCamera + name: gripper + fov: 75 + aspect: 1 + nearval: 0.01 + farval: 2 + width: 84 + height: 84 + tactile: + _target_: vr_env.camera.tactile_sensor.TactileSensor + name: tactile + width: 120 + height: 160 + digit_link_ids: + - 10 + - 12 + visualize_gui: false + config_path: conf/digit_sensor/config_digit.yml +load_dir: /work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/ +data_path: data +save_dir: ??? +show_gui: false +processes: 16 +max_episode_frames: 1 +save_body_infos: true +set_static_cam: false +env: + cameras: ${cameras} + show_gui: ${show_gui} + use_vr: false +scene: + _target_: vr_env.scene.play_table_scene.PlayTableScene + _recursive_: false + name: calvin_scene_A + data_path: ${data_path} + global_scaling: 0.8 + euler_obs: ${robot.euler_obs} + robot_base_position: + - -0.34 + - -0.46 + - 0.24 + robot_base_orientation: + - 0 + - 0 + - 0 + robot_initial_joint_positions: + - -1.21779206 + - 1.03987646 + - 2.11978261 + - -2.34205014 + - -0.87015947 + - 1.64119353 + - 0.55344866 + surfaces: + table: + - - 0.0 + - -0.15 + - 0.46 + - - 0.35 + - -0.03 + - 0.46 + slider_left: + - - -0.32 + - 0.05 + - 0.46 + - - -0.16 + - 0.12 + - 0.46 + slider_right: + - - -0.05 + - 0.05 + - 0.46 + - - 0.13 + - 0.12 + - 0.46 + objects: + fixed_objects: + table: + file: calvin_table_A/urdf/calvin_table_A.urdf + initial_pos: + - 0 + - 0 + - 0 + initial_orn: + - 0 + - 0 + - 0 + joints: + base__slide: + initial_state: 0 + base__drawer: + initial_state: 0 + buttons: + base__button: + initial_state: 0 + effect: led + switches: + base__switch: + initial_state: 0 + effect: lightbulb + lights: + lightbulb: + link: light_link + color: + - 1 + - 1 + - 0 + - 1 + led: + link: led_link + color: + - 0 + - 1 + - 0 + - 1 + movable_objects: + block_red: + file: blocks/block_red_middle.urdf + initial_pos: any + initial_orn: any + block_blue: + file: blocks/block_blue_small.urdf + initial_pos: any + initial_orn: any + block_pink: + file: blocks/block_pink_big.urdf + initial_pos: any + initial_orn: any diff --git a/all_scale_D/scale_50/training/.hydra/hydra.yaml b/all_scale_D/scale_50/training/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6ac4a26982003b959b1d43745333f5728d4fbb83 --- /dev/null +++ b/all_scale_D/scale_50/training/.hydra/hydra.yaml @@ -0,0 +1,170 @@ +hydra: + run: + dir: /work/dlclarge2/meeso-lfp/calvin_data/task_A_A/ + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + colorlog: + (): colorlog.ColoredFormatter + format: '[%(cyan)s%(asctime)s%(reset)s][%(purple)sHYDRA%(reset)s] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: colorlog + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + colorlog: + (): colorlog.ColoredFormatter + format: '[%(cyan)s%(asctime)s%(reset)s][%(blue)s%(name)s%(reset)s][%(log_color)s%(levelname)s%(reset)s] + - %(message)s' + log_colors: + DEBUG: purple + INFO: green + WARNING: yellow + ERROR: red + CRITICAL: red + handlers: + console: + class: logging.StreamHandler + formatter: colorlog + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.run.dir=/work/dlclarge2/meeso-lfp/calvin_data/task_A_A/ + task: + - load_dir=/work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/ + - set_static_cam=false + - processes=16 + - +scene=calvin_scene_A + - show_gui=false + job: + name: datarenderer + 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 + id: ??? + num: ??? + config_name: config_rendering + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.1.1 + cwd: /home/meeso/VRENVCalvinRender/vr_env + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /home/meeso/VRENVCalvinRender/conf + schema: file + provider: main + - path: hydra_plugins.hydra_colorlog.conf + schema: pkg + provider: hydra-colorlog + - path: '' + schema: structured + provider: schema + choices: + scene: calvin_scene_A + cameras: static_gripper_tactile + cameras/cameras@cameras.tactile: tactile + cameras/cameras@cameras.gripper: gripper + cameras/cameras@cameras.static: static + hydra/env: default + hydra/callbacks: null + hydra/job_logging: colorlog + hydra/hydra_logging: colorlog + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/all_scale_D/scale_50/training/.hydra/merged_config.yaml b/all_scale_D/scale_50/training/.hydra/merged_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..23021af04d23e6477a88ad6aa66f3a8806843224 --- /dev/null +++ b/all_scale_D/scale_50/training/.hydra/merged_config.yaml @@ -0,0 +1,393 @@ +cameras: + static: + _target_: calvin_env.camera.static_camera.StaticCamera + name: static + fov: 10 + aspect: 1 + nearval: 0.01 + farval: 10 + width: 200 + height: 200 + look_at: + - -0.026242351159453392 + - -0.0302329882979393 + - 0.3920000493526459 + look_from: + - 2.871459009488717 + - -2.166602199425597 + - 2.555159848480571 + up_vector: + - 0.4041403970338857 + - 0.22629790978217404 + - 0.8862616969685161 + gripper: + _target_: calvin_env.camera.gripper_camera.GripperCamera + name: gripper + fov: 75 + aspect: 1 + nearval: 0.01 + farval: 2 + width: 84 + height: 84 + tactile: + _target_: calvin_env.camera.tactile_sensor.TactileSensor + name: tactile + width: 120 + height: 160 + digit_link_ids: + - 10 + - 12 + visualize_gui: false + config_path: conf/digit_sensor/config_digit.yml +vr_input: + vr_controller: + POSITION: 1 + ORIENTATION: 2 + ANALOG: 3 + BUTTONS: 6 + BUTTON_A: 2 + BUTTON_B: 1 + vr_controller_id: 3 + gripper_orientation_offset: + - 0 + - 3 + - 3.14 + gripper_position_offset: + - -0.2 + - 0.3 + - 0 + _target_: calvin_env.io_utils.vr_input.VrInput + limit_angle: + - 90 + - 0 + - 0 + - -1 + visualize_vr_pos: true + reset_button_queue_len: 60 +env: + _target_: calvin_env.envs.play_table_env.PlayTableSimEnv + _recursive_: false + cameras: ${cameras} + seed: 0 + bullet_time_step: 240.0 + use_vr: false + show_gui: ${show_gui} + robot_cfg: ${robot} + scene_cfg: ${scene} + use_scene_info: false + use_egl: true + control_freq: 30 +scene: + _target_: calvin_env.scene.play_table_scene.PlayTableScene + _recursive_: false + data_path: ${data_path} + global_scaling: 0.8 + euler_obs: ${robot.euler_obs} + robot_base_position: + - -0.34 + - -0.46 + - 0.24 + robot_base_orientation: + - 0 + - 0 + - 0 + robot_initial_joint_positions: + - -1.21779206 + - 1.03987646 + - 2.11978261 + - -2.34205014 + - -0.87015947 + - 1.64119353 + - 0.55344866 + surfaces: + table: + - - 0.0 + - -0.15 + - 0.46 + - - 0.35 + - -0.03 + - 0.46 + slider_left: + - - -0.32 + - 0.05 + - 0.46 + - - -0.16 + - 0.12 + - 0.46 + slider_right: + - - -0.05 + - 0.05 + - 0.46 + - - 0.13 + - 0.12 + - 0.46 + objects: + fixed_objects: + table: + file: calvin_table_D/urdf/calvin_table_D.urdf + initial_pos: + - 0 + - 0 + - 0 + initial_orn: + - 0 + - 0 + - 0 + joints: + base__slide: + initial_state: 0 + base__drawer: + initial_state: 0 + buttons: + base__button: + initial_state: 0 + effect: led + switches: + base__switch: + initial_state: 0 + effect: lightbulb + lights: + lightbulb: + link: light_link + color: + - 1 + - 1 + - 0 + - 1 + led: + link: led_link + color: + - 0 + - 1 + - 0 + - 1 + movable_objects: + block_red: + file: blocks/block_red_middle.urdf + initial_pos: any + initial_orn: any + block_blue: + file: blocks/block_blue_small.urdf + initial_pos: any + initial_orn: any + block_pink: + file: blocks/block_pink_big.urdf + initial_pos: any + initial_orn: any + name: calvin_scene_D +robot: + _target_: calvin_env.robot.robot.Robot + filename: franka_panda/panda_longer_finger.urdf + base_position: ${scene.robot_base_position} + base_orientation: ${scene.robot_base_orientation} + initial_joint_positions: ${scene.robot_initial_joint_positions} + max_joint_force: 200.0 + gripper_force: 200 + arm_joint_ids: + - 0 + - 1 + - 2 + - 3 + - 4 + - 5 + - 6 + gripper_joint_ids: + - 9 + - 11 + gripper_joint_limits: + - 0 + - 0.04 + tcp_link_id: 15 + end_effector_link_id: 7 + gripper_cam_link: 12 + use_nullspace: true + max_velocity: 2 + use_ik_fast: false + magic_scaling_factor_pos: 1 + magic_scaling_factor_orn: 1 + use_target_pose: true + euler_obs: true +tasks: + _target_: calvin_env.envs.tasks.Tasks + tasks: + rotate_red_block_right: + - rotate_object + - block_red + - -60 + rotate_red_block_left: + - rotate_object + - block_red + - 60 + rotate_blue_block_right: + - rotate_object + - block_blue + - -60 + rotate_blue_block_left: + - rotate_object + - block_blue + - 60 + rotate_pink_block_right: + - rotate_object + - block_pink + - -60 + rotate_pink_block_left: + - rotate_object + - block_pink + - 60 + push_red_block_right: + - push_object + - block_red + - 0.1 + - 0 + push_red_block_left: + - push_object + - block_red + - -0.1 + - 0 + push_blue_block_right: + - push_object + - block_blue + - 0.1 + - 0 + push_blue_block_left: + - push_object + - block_blue + - -0.1 + - 0 + push_pink_block_right: + - push_object + - block_pink + - 0.1 + - 0 + push_pink_block_left: + - push_object + - block_pink + - -0.1 + - 0 + move_slider_left: + - move_door_rel + - base__slide + - 0.15 + move_slider_right: + - move_door_rel + - base__slide + - -0.15 + open_drawer: + - move_door_rel + - base__drawer + - 0.12 + close_drawer: + - move_door_rel + - base__drawer + - -0.12 + lift_red_block_table: + - lift_object + - block_red + - 0.05 + - table + - base_link + lift_red_block_slider: + - lift_object + - block_red + - 0.03 + - table + - plank_link + lift_red_block_drawer: + - lift_object + - block_red + - 0.05 + - table + - drawer_link + lift_blue_block_table: + - lift_object + - block_blue + - 0.05 + - table + - base_link + lift_blue_block_slider: + - lift_object + - block_blue + - 0.03 + - table + - plank_link + lift_blue_block_drawer: + - lift_object + - block_blue + - 0.05 + - table + - drawer_link + lift_pink_block_table: + - lift_object + - block_pink + - 0.05 + - table + - base_link + lift_pink_block_slider: + - lift_object + - block_pink + - 0.03 + - table + - plank_link + lift_pink_block_drawer: + - lift_object + - block_pink + - 0.05 + - table + - drawer_link + place_in_slider: + - place_object + - table + - plank_link + place_in_drawer: + - place_object + - table + - drawer_link + stack_block: + - stack_objects + unstack_block: + - unstack_objects + turn_on_lightbulb: + - toggle_light + - lightbulb + - 0 + - 1 + turn_off_lightbulb: + - toggle_light + - lightbulb + - 1 + - 0 + turn_on_led: + - toggle_light + - led + - 0 + - 1 + turn_off_led: + - toggle_light + - led + - 1 + - 0 + push_into_drawer: + - push_object_into + - - block_red + - block_blue + - block_pink + - table + - base_link + - table + - drawer_link +recorder: + record: ${record} + record_fps: 30.0 + show_fps: false + enable_tts: true +seed: 0 +use_vr: true +data_path: data +save_dir: /home/meeso/recordings +record: true +load_dir: /work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-09-12/11-36-05/ +show_gui: false +processes: 16 +max_episode_frames: 1 +save_body_infos: true +set_static_cam: false diff --git a/all_scale_D/scale_50/training/.hydra/overrides.yaml b/all_scale_D/scale_50/training/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..530ed5076f96af700452db9fc96f4a75576c8f81 --- /dev/null +++ b/all_scale_D/scale_50/training/.hydra/overrides.yaml @@ -0,0 +1,5 @@ +- 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b/all_scale_D/scale_50/training/lang_paraphrase-MiniLM-L3-v2/auto_lang_ann.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b336682ffe5a4ae4776c4ae81c153a7c058a30a1dea0ae4f78ede83054f27d5 +size 8108180 diff --git a/all_scale_D/scale_50/training/scene_info.npy b/all_scale_D/scale_50/training/scene_info.npy new file mode 100644 index 0000000000000000000000000000000000000000..f03a31f403268243f999e3765541105e2702f852 --- /dev/null +++ b/all_scale_D/scale_50/training/scene_info.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22305b276e5db506bd6d3d6d9b84b9d243b62a9d3b4a48ec94449b07a77e1db6 +size 408 diff --git a/all_scale_D/scale_50/training/statistics.yaml b/all_scale_D/scale_50/training/statistics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..956d04c395133944758761a1dce39f689bef9001 --- /dev/null +++ b/all_scale_D/scale_50/training/statistics.yaml @@ -0,0 +1,21 @@ +robot_obs: + - _target_: calvin_agent.utils.transforms.NormalizeVector + mean: [0.039233, -0.118554, 0.507826, 1.079174, -0.083069, 1.579753, + 0.054622, -0.736859, 1.017769, 1.792879, -2.099604, -0.993738, + 1.790842, 0.586534, 0.095367] + std: [0.150769, 0.1104 , 0.06253 , 2.883517, 0.126405, 0.377196, + 0.030152, 0.334392, 0.172714, 0.240513, 0.3842 , 0.198596, + 0.158712, 0.346865, 0.995442] +scene_obs: + - _target_: calvin_agent.utils.transforms.NormalizeVector + mean: [0.150934, 0.119917, 0.000239, 0.042049, 0.487755, 0.47448 , + 0.057482, -0.088074, 0.431237, 0.046034, 0.030599, 0.027333, + 0.062103, -0.092833, 0.430236, -0.054962, 0.019381, 0.096546, + 0.064944, -0.093058, 0.428381, 0.024941, 0.002746, -0.031589] + std: [ 0.125757, 0.09654 , 0.002148, 0.041916, 0.49985 , 0.499348, + 0.146225, 0.119266, 0.050408, 1.430807, 0.676023, 2.017468, + 0.142979, 0.113236, 0.049651, 1.545888, 0.3906 , 1.763569, + 0.143077, 0.11546 , 0.050363, 1.514873, 0.431664, 1.860245] + +act_min_bound: [-0.432188, -0.545456, 0.293439, -3.141593, -0.811348, -3.141573, -1. ] +act_max_bound: [0.42977 , 0.139396, 0.796262, 3.141592, 0.638583, 3.141551, 1. ] diff --git a/all_scale_D/scale_50/validation/.hydra/config.yaml b/all_scale_D/scale_50/validation/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..eb0131f97bc0efede43ce12f525b901bd239649c --- /dev/null +++ b/all_scale_D/scale_50/validation/.hydra/config.yaml @@ -0,0 +1,151 @@ +cameras: + static: + _target_: vr_env.camera.static_camera.StaticCamera + name: static + fov: 10 + aspect: 1 + nearval: 0.01 + farval: 10 + width: 200 + height: 200 + look_at: + - -0.026242351159453392 + - -0.0302329882979393 + - 0.3920000493526459 + look_from: + - 2.871459009488717 + - -2.166602199425597 + - 2.555159848480571 + up_vector: + - 0.4041403970338857 + - 0.22629790978217404 + - 0.8862616969685161 + gripper: + _target_: vr_env.camera.gripper_camera.GripperCamera + name: gripper + fov: 75 + aspect: 1 + nearval: 0.01 + farval: 2 + width: 84 + height: 84 + tactile: + _target_: vr_env.camera.tactile_sensor.TactileSensor + name: tactile + width: 120 + height: 160 + digit_link_ids: + - 10 + - 12 + visualize_gui: false + config_path: conf/digit_sensor/config_digit.yml +load_dir: /work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/ +data_path: data +save_dir: ??? +show_gui: false +processes: 16 +max_episode_frames: 1 +save_body_infos: true +set_static_cam: false +env: + cameras: ${cameras} + show_gui: ${show_gui} + use_vr: false +scene: + _target_: vr_env.scene.play_table_scene.PlayTableScene + _recursive_: false + name: calvin_scene_A + data_path: ${data_path} + global_scaling: 0.8 + euler_obs: ${robot.euler_obs} + robot_base_position: + - -0.34 + - -0.46 + - 0.24 + robot_base_orientation: + - 0 + - 0 + - 0 + robot_initial_joint_positions: + - -1.21779206 + - 1.03987646 + - 2.11978261 + - -2.34205014 + - -0.87015947 + - 1.64119353 + - 0.55344866 + surfaces: + table: + - - 0.0 + - -0.15 + - 0.46 + - - 0.35 + - -0.03 + - 0.46 + slider_left: + - - -0.32 + - 0.05 + - 0.46 + - - -0.16 + - 0.12 + - 0.46 + slider_right: + - - -0.05 + - 0.05 + - 0.46 + - - 0.13 + - 0.12 + - 0.46 + objects: + fixed_objects: + table: + file: calvin_table_A/urdf/calvin_table_A.urdf + initial_pos: + - 0 + - 0 + - 0 + initial_orn: + - 0 + - 0 + - 0 + joints: + base__slide: + initial_state: 0 + base__drawer: + initial_state: 0 + buttons: + base__button: + initial_state: 0 + effect: led + switches: + base__switch: + initial_state: 0 + effect: lightbulb + lights: + lightbulb: + link: light_link + color: + - 1 + - 1 + - 0 + - 1 + led: + link: led_link + color: + - 0 + - 1 + - 0 + - 1 + movable_objects: + block_red: + file: blocks/block_red_middle.urdf + initial_pos: any + initial_orn: any + block_blue: + file: blocks/block_blue_small.urdf + initial_pos: any + initial_orn: any + block_pink: + file: blocks/block_pink_big.urdf + initial_pos: any + initial_orn: any diff --git a/all_scale_D/scale_50/validation/.hydra/hydra.yaml b/all_scale_D/scale_50/validation/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6ac4a26982003b959b1d43745333f5728d4fbb83 --- /dev/null +++ b/all_scale_D/scale_50/validation/.hydra/hydra.yaml @@ -0,0 +1,170 @@ +hydra: + run: + dir: /work/dlclarge2/meeso-lfp/calvin_data/task_A_A/ + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + colorlog: + (): colorlog.ColoredFormatter + format: '[%(cyan)s%(asctime)s%(reset)s][%(purple)sHYDRA%(reset)s] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: colorlog + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + colorlog: + (): colorlog.ColoredFormatter + format: '[%(cyan)s%(asctime)s%(reset)s][%(blue)s%(name)s%(reset)s][%(log_color)s%(levelname)s%(reset)s] + - %(message)s' + log_colors: + DEBUG: purple + INFO: green + WARNING: yellow + ERROR: red + CRITICAL: red + handlers: + console: + class: logging.StreamHandler + formatter: colorlog + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.run.dir=/work/dlclarge2/meeso-lfp/calvin_data/task_A_A/ + task: + - load_dir=/work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/ + - set_static_cam=false + - processes=16 + - +scene=calvin_scene_A + - show_gui=false + job: + name: datarenderer + 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 + id: ??? + num: ??? + config_name: config_rendering + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.1.1 + cwd: /home/meeso/VRENVCalvinRender/vr_env + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /home/meeso/VRENVCalvinRender/conf + schema: file + provider: main + - path: hydra_plugins.hydra_colorlog.conf + schema: pkg + provider: hydra-colorlog + - path: '' + schema: structured + provider: schema + choices: + scene: calvin_scene_A + cameras: static_gripper_tactile + cameras/cameras@cameras.tactile: tactile + cameras/cameras@cameras.gripper: gripper + cameras/cameras@cameras.static: static + hydra/env: default + hydra/callbacks: null + hydra/job_logging: colorlog + hydra/hydra_logging: colorlog + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/all_scale_D/scale_50/validation/.hydra/merged_config.yaml b/all_scale_D/scale_50/validation/.hydra/merged_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..23021af04d23e6477a88ad6aa66f3a8806843224 --- /dev/null +++ b/all_scale_D/scale_50/validation/.hydra/merged_config.yaml @@ -0,0 +1,393 @@ +cameras: + static: + _target_: calvin_env.camera.static_camera.StaticCamera + name: static + fov: 10 + aspect: 1 + nearval: 0.01 + farval: 10 + width: 200 + height: 200 + look_at: + - -0.026242351159453392 + - -0.0302329882979393 + - 0.3920000493526459 + look_from: + - 2.871459009488717 + - -2.166602199425597 + - 2.555159848480571 + up_vector: + - 0.4041403970338857 + - 0.22629790978217404 + - 0.8862616969685161 + gripper: + _target_: calvin_env.camera.gripper_camera.GripperCamera + name: gripper + fov: 75 + aspect: 1 + nearval: 0.01 + farval: 2 + width: 84 + height: 84 + tactile: + _target_: calvin_env.camera.tactile_sensor.TactileSensor + name: tactile + width: 120 + height: 160 + digit_link_ids: + - 10 + - 12 + visualize_gui: false + config_path: conf/digit_sensor/config_digit.yml +vr_input: + vr_controller: + POSITION: 1 + ORIENTATION: 2 + ANALOG: 3 + BUTTONS: 6 + BUTTON_A: 2 + BUTTON_B: 1 + vr_controller_id: 3 + gripper_orientation_offset: + - 0 + - 3 + - 3.14 + gripper_position_offset: + - -0.2 + - 0.3 + - 0 + _target_: calvin_env.io_utils.vr_input.VrInput + limit_angle: + - 90 + - 0 + - 0 + - -1 + visualize_vr_pos: true + reset_button_queue_len: 60 +env: + _target_: calvin_env.envs.play_table_env.PlayTableSimEnv + _recursive_: false + cameras: ${cameras} + seed: 0 + bullet_time_step: 240.0 + use_vr: false + show_gui: ${show_gui} + robot_cfg: ${robot} + scene_cfg: ${scene} + use_scene_info: false + use_egl: true + control_freq: 30 +scene: + _target_: calvin_env.scene.play_table_scene.PlayTableScene + _recursive_: false + data_path: ${data_path} + global_scaling: 0.8 + euler_obs: ${robot.euler_obs} + robot_base_position: + - -0.34 + - -0.46 + - 0.24 + robot_base_orientation: + - 0 + - 0 + - 0 + robot_initial_joint_positions: + - -1.21779206 + - 1.03987646 + - 2.11978261 + - -2.34205014 + - -0.87015947 + - 1.64119353 + - 0.55344866 + surfaces: + table: + - - 0.0 + - -0.15 + - 0.46 + - - 0.35 + - -0.03 + - 0.46 + slider_left: + - - -0.32 + - 0.05 + - 0.46 + - - -0.16 + - 0.12 + - 0.46 + slider_right: + - - -0.05 + - 0.05 + - 0.46 + - - 0.13 + - 0.12 + - 0.46 + objects: + fixed_objects: + table: + file: calvin_table_D/urdf/calvin_table_D.urdf + initial_pos: + - 0 + - 0 + - 0 + initial_orn: + - 0 + - 0 + - 0 + joints: + base__slide: + initial_state: 0 + base__drawer: + initial_state: 0 + buttons: + base__button: + initial_state: 0 + effect: led + switches: + base__switch: + initial_state: 0 + effect: lightbulb + lights: + lightbulb: + link: light_link + color: + - 1 + - 1 + - 0 + - 1 + led: + link: led_link + color: + - 0 + - 1 + - 0 + - 1 + movable_objects: + block_red: + file: blocks/block_red_middle.urdf + initial_pos: any + initial_orn: any + block_blue: + file: blocks/block_blue_small.urdf + initial_pos: any + initial_orn: any + block_pink: + file: blocks/block_pink_big.urdf + initial_pos: any + initial_orn: any + name: calvin_scene_D +robot: + _target_: calvin_env.robot.robot.Robot + filename: franka_panda/panda_longer_finger.urdf + base_position: ${scene.robot_base_position} + base_orientation: ${scene.robot_base_orientation} + initial_joint_positions: ${scene.robot_initial_joint_positions} + max_joint_force: 200.0 + gripper_force: 200 + arm_joint_ids: + - 0 + - 1 + - 2 + - 3 + - 4 + - 5 + - 6 + gripper_joint_ids: + - 9 + - 11 + gripper_joint_limits: + - 0 + - 0.04 + tcp_link_id: 15 + end_effector_link_id: 7 + gripper_cam_link: 12 + use_nullspace: true + max_velocity: 2 + use_ik_fast: false + magic_scaling_factor_pos: 1 + magic_scaling_factor_orn: 1 + use_target_pose: true + euler_obs: true +tasks: + _target_: calvin_env.envs.tasks.Tasks + tasks: + rotate_red_block_right: + - rotate_object + - block_red + - -60 + rotate_red_block_left: + - rotate_object + - block_red + - 60 + rotate_blue_block_right: + - rotate_object + - block_blue + - -60 + rotate_blue_block_left: + - rotate_object + - block_blue + - 60 + rotate_pink_block_right: + - rotate_object + - block_pink + - -60 + rotate_pink_block_left: + - rotate_object + - block_pink + - 60 + push_red_block_right: + - push_object + - block_red + - 0.1 + - 0 + push_red_block_left: + - push_object + - block_red + - -0.1 + - 0 + push_blue_block_right: + - push_object + - block_blue + - 0.1 + - 0 + push_blue_block_left: + - push_object + - block_blue + - -0.1 + - 0 + push_pink_block_right: + - push_object + - block_pink + - 0.1 + - 0 + push_pink_block_left: + - push_object + - block_pink + - -0.1 + - 0 + move_slider_left: + - move_door_rel + - base__slide + - 0.15 + move_slider_right: + - move_door_rel + - base__slide + - -0.15 + open_drawer: + - move_door_rel + - base__drawer + - 0.12 + close_drawer: + - move_door_rel + - base__drawer + - -0.12 + lift_red_block_table: + - lift_object + - block_red + - 0.05 + - table + - base_link + lift_red_block_slider: + - lift_object + - block_red + - 0.03 + - table + - plank_link + lift_red_block_drawer: + - lift_object + - block_red + - 0.05 + - table + - drawer_link + lift_blue_block_table: + - lift_object + - block_blue + - 0.05 + - table + - base_link + lift_blue_block_slider: + - lift_object + - block_blue + - 0.03 + - table + - plank_link + lift_blue_block_drawer: + - lift_object + - block_blue + - 0.05 + - table + - drawer_link + lift_pink_block_table: + - lift_object + - block_pink + - 0.05 + - table + - base_link + lift_pink_block_slider: + - lift_object + - block_pink + - 0.03 + - table + - plank_link + lift_pink_block_drawer: + - lift_object + - block_pink + - 0.05 + - table + - drawer_link + place_in_slider: + - place_object + - table + - plank_link + place_in_drawer: + - place_object + - table + - drawer_link + stack_block: + - stack_objects + unstack_block: + - unstack_objects + turn_on_lightbulb: + - toggle_light + - lightbulb + - 0 + - 1 + turn_off_lightbulb: + - toggle_light + - lightbulb + - 1 + - 0 + turn_on_led: + - toggle_light + - led + - 0 + - 1 + turn_off_led: + - toggle_light + - led + - 1 + - 0 + push_into_drawer: + - push_object_into + - - block_red + - block_blue + - block_pink + - table + - base_link + - table + - drawer_link +recorder: + record: ${record} + record_fps: 30.0 + show_fps: false + enable_tts: true +seed: 0 +use_vr: true +data_path: data +save_dir: /home/meeso/recordings +record: true +load_dir: /work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-09-12/11-36-05/ +show_gui: false +processes: 16 +max_episode_frames: 1 +save_body_infos: true +set_static_cam: false diff --git a/all_scale_D/scale_50/validation/.hydra/overrides.yaml 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b/all_scale_D/scale_50/validation/lang_msmarco-bert-base-dot-v5/embeddings.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8312b5077ac33789b2654c9f806b05472d5328dc48d9e670ada2212726c02a3 +size 263189 diff --git a/all_scale_D/scale_50/validation/lang_paraphrase-MiniLM-L3-v2/auto_lang_ann.npy b/all_scale_D/scale_50/validation/lang_paraphrase-MiniLM-L3-v2/auto_lang_ann.npy new file mode 100644 index 0000000000000000000000000000000000000000..1b15bce0782e7366c802d9e9362dc1cf4ec9d025 --- /dev/null +++ b/all_scale_D/scale_50/validation/lang_paraphrase-MiniLM-L3-v2/auto_lang_ann.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8cd4315ac2f740d691facf827f4005661d1f997304280c573b83d962d1cd77da +size 1617294 diff --git a/all_scale_D/scale_50/validation/lang_paraphrase-MiniLM-L3-v2/embeddings.npy b/all_scale_D/scale_50/validation/lang_paraphrase-MiniLM-L3-v2/embeddings.npy new file mode 100644 index 0000000000000000000000000000000000000000..41cd2988c688baa4b630f1aed7dc9a95e4abb12b --- /dev/null +++ b/all_scale_D/scale_50/validation/lang_paraphrase-MiniLM-L3-v2/embeddings.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae8f2565f2ba8399d0605f8d93fd9a8075ebf31ed33c79d353e1a16dc3fadb08 +size 210963 diff --git a/all_scale_D/scale_50/validation/statistics.yaml b/all_scale_D/scale_50/validation/statistics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..956d04c395133944758761a1dce39f689bef9001 --- /dev/null +++ b/all_scale_D/scale_50/validation/statistics.yaml @@ -0,0 +1,21 @@ +robot_obs: + - _target_: calvin_agent.utils.transforms.NormalizeVector + mean: [0.039233, -0.118554, 0.507826, 1.079174, -0.083069, 1.579753, + 0.054622, -0.736859, 1.017769, 1.792879, -2.099604, -0.993738, + 1.790842, 0.586534, 0.095367] + std: [0.150769, 0.1104 , 0.06253 , 2.883517, 0.126405, 0.377196, + 0.030152, 0.334392, 0.172714, 0.240513, 0.3842 , 0.198596, + 0.158712, 0.346865, 0.995442] +scene_obs: + - _target_: calvin_agent.utils.transforms.NormalizeVector + mean: [0.150934, 0.119917, 0.000239, 0.042049, 0.487755, 0.47448 , + 0.057482, -0.088074, 0.431237, 0.046034, 0.030599, 0.027333, + 0.062103, -0.092833, 0.430236, -0.054962, 0.019381, 0.096546, + 0.064944, -0.093058, 0.428381, 0.024941, 0.002746, -0.031589] + std: [ 0.125757, 0.09654 , 0.002148, 0.041916, 0.49985 , 0.499348, + 0.146225, 0.119266, 0.050408, 1.430807, 0.676023, 2.017468, + 0.142979, 0.113236, 0.049651, 1.545888, 0.3906 , 1.763569, + 0.143077, 0.11546 , 0.050363, 1.514873, 0.431664, 1.860245] + +act_min_bound: [-0.432188, -0.545456, 0.293439, -3.141593, -0.811348, -3.141573, -1. ] +act_max_bound: [0.42977 , 0.139396, 0.796262, 3.141592, 0.638583, 3.141551, 1. ] diff --git a/all_scale_D/scale_70/training/.hydra/config.yaml b/all_scale_D/scale_70/training/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..eb0131f97bc0efede43ce12f525b901bd239649c --- /dev/null +++ b/all_scale_D/scale_70/training/.hydra/config.yaml @@ -0,0 +1,151 @@ +cameras: + static: + _target_: vr_env.camera.static_camera.StaticCamera + name: static + fov: 10 + aspect: 1 + nearval: 0.01 + farval: 10 + width: 200 + height: 200 + look_at: + - -0.026242351159453392 + - -0.0302329882979393 + - 0.3920000493526459 + look_from: + - 2.871459009488717 + - -2.166602199425597 + - 2.555159848480571 + up_vector: + - 0.4041403970338857 + - 0.22629790978217404 + - 0.8862616969685161 + gripper: + _target_: vr_env.camera.gripper_camera.GripperCamera + name: gripper + fov: 75 + aspect: 1 + nearval: 0.01 + farval: 2 + width: 84 + height: 84 + tactile: + _target_: vr_env.camera.tactile_sensor.TactileSensor + name: tactile + width: 120 + height: 160 + digit_link_ids: + - 10 + - 12 + visualize_gui: false + config_path: conf/digit_sensor/config_digit.yml +load_dir: /work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/ +data_path: data +save_dir: ??? +show_gui: false +processes: 16 +max_episode_frames: 1 +save_body_infos: true +set_static_cam: false +env: + cameras: ${cameras} + show_gui: ${show_gui} + use_vr: false +scene: + _target_: vr_env.scene.play_table_scene.PlayTableScene + _recursive_: false + name: calvin_scene_A + data_path: ${data_path} + global_scaling: 0.8 + euler_obs: ${robot.euler_obs} + robot_base_position: + - -0.34 + - -0.46 + - 0.24 + robot_base_orientation: + - 0 + - 0 + - 0 + robot_initial_joint_positions: + - -1.21779206 + - 1.03987646 + - 2.11978261 + - -2.34205014 + - -0.87015947 + - 1.64119353 + - 0.55344866 + surfaces: + table: + - - 0.0 + - -0.15 + - 0.46 + - - 0.35 + - -0.03 + - 0.46 + slider_left: + - - -0.32 + - 0.05 + - 0.46 + - - -0.16 + - 0.12 + - 0.46 + slider_right: + - - -0.05 + - 0.05 + - 0.46 + - - 0.13 + - 0.12 + - 0.46 + objects: + fixed_objects: + table: + file: calvin_table_A/urdf/calvin_table_A.urdf + initial_pos: + - 0 + - 0 + - 0 + initial_orn: + - 0 + - 0 + - 0 + joints: + base__slide: + initial_state: 0 + base__drawer: + initial_state: 0 + buttons: + base__button: + initial_state: 0 + effect: led + switches: + base__switch: + initial_state: 0 + effect: lightbulb + lights: + lightbulb: + link: light_link + color: + - 1 + - 1 + - 0 + - 1 + led: + link: led_link + color: + - 0 + - 1 + - 0 + - 1 + movable_objects: + block_red: + file: blocks/block_red_middle.urdf + initial_pos: any + initial_orn: any + block_blue: + file: blocks/block_blue_small.urdf + initial_pos: any + initial_orn: any + block_pink: + file: blocks/block_pink_big.urdf + initial_pos: any + initial_orn: any diff --git a/all_scale_D/scale_70/training/.hydra/hydra.yaml b/all_scale_D/scale_70/training/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6ac4a26982003b959b1d43745333f5728d4fbb83 --- /dev/null +++ b/all_scale_D/scale_70/training/.hydra/hydra.yaml @@ -0,0 +1,170 @@ +hydra: + run: + dir: /work/dlclarge2/meeso-lfp/calvin_data/task_A_A/ + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + colorlog: + (): colorlog.ColoredFormatter + format: '[%(cyan)s%(asctime)s%(reset)s][%(purple)sHYDRA%(reset)s] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: colorlog + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + colorlog: + (): colorlog.ColoredFormatter + format: '[%(cyan)s%(asctime)s%(reset)s][%(blue)s%(name)s%(reset)s][%(log_color)s%(levelname)s%(reset)s] + - %(message)s' + log_colors: + DEBUG: purple + INFO: green + WARNING: yellow + ERROR: red + CRITICAL: red + handlers: + console: + class: logging.StreamHandler + formatter: colorlog + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.run.dir=/work/dlclarge2/meeso-lfp/calvin_data/task_A_A/ + task: + - load_dir=/work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/ + - set_static_cam=false + - processes=16 + - +scene=calvin_scene_A + - show_gui=false + job: + name: datarenderer + 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 + id: ??? + num: ??? + config_name: config_rendering + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.1.1 + cwd: /home/meeso/VRENVCalvinRender/vr_env + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /home/meeso/VRENVCalvinRender/conf + schema: file + provider: main + - path: hydra_plugins.hydra_colorlog.conf + schema: pkg + provider: hydra-colorlog + - path: '' + schema: structured + provider: schema + choices: + scene: calvin_scene_A + cameras: static_gripper_tactile + cameras/cameras@cameras.tactile: tactile + cameras/cameras@cameras.gripper: gripper + cameras/cameras@cameras.static: static + hydra/env: default + hydra/callbacks: null + hydra/job_logging: colorlog + hydra/hydra_logging: colorlog + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/all_scale_D/scale_70/training/.hydra/merged_config.yaml b/all_scale_D/scale_70/training/.hydra/merged_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..23021af04d23e6477a88ad6aa66f3a8806843224 --- /dev/null +++ b/all_scale_D/scale_70/training/.hydra/merged_config.yaml @@ -0,0 +1,393 @@ +cameras: + static: + _target_: calvin_env.camera.static_camera.StaticCamera + name: static + fov: 10 + aspect: 1 + nearval: 0.01 + farval: 10 + width: 200 + height: 200 + look_at: + - -0.026242351159453392 + - -0.0302329882979393 + - 0.3920000493526459 + look_from: + - 2.871459009488717 + - -2.166602199425597 + - 2.555159848480571 + up_vector: + - 0.4041403970338857 + - 0.22629790978217404 + - 0.8862616969685161 + gripper: + _target_: calvin_env.camera.gripper_camera.GripperCamera + name: gripper + fov: 75 + aspect: 1 + nearval: 0.01 + farval: 2 + width: 84 + height: 84 + tactile: + _target_: calvin_env.camera.tactile_sensor.TactileSensor + name: tactile + width: 120 + height: 160 + digit_link_ids: + - 10 + - 12 + visualize_gui: false + config_path: conf/digit_sensor/config_digit.yml +vr_input: + vr_controller: + POSITION: 1 + ORIENTATION: 2 + ANALOG: 3 + BUTTONS: 6 + BUTTON_A: 2 + BUTTON_B: 1 + vr_controller_id: 3 + gripper_orientation_offset: + - 0 + - 3 + - 3.14 + gripper_position_offset: + - -0.2 + - 0.3 + - 0 + _target_: calvin_env.io_utils.vr_input.VrInput + limit_angle: + - 90 + - 0 + - 0 + - -1 + visualize_vr_pos: true + reset_button_queue_len: 60 +env: + _target_: calvin_env.envs.play_table_env.PlayTableSimEnv + _recursive_: false + cameras: ${cameras} + seed: 0 + bullet_time_step: 240.0 + use_vr: false + show_gui: ${show_gui} + robot_cfg: ${robot} + scene_cfg: ${scene} + use_scene_info: false + use_egl: true + control_freq: 30 +scene: + _target_: calvin_env.scene.play_table_scene.PlayTableScene + _recursive_: false + data_path: ${data_path} + global_scaling: 0.8 + euler_obs: ${robot.euler_obs} + robot_base_position: + - -0.34 + - -0.46 + - 0.24 + robot_base_orientation: + - 0 + - 0 + - 0 + robot_initial_joint_positions: + - -1.21779206 + - 1.03987646 + - 2.11978261 + - -2.34205014 + - -0.87015947 + - 1.64119353 + - 0.55344866 + surfaces: + table: + - - 0.0 + - -0.15 + - 0.46 + - - 0.35 + - -0.03 + - 0.46 + slider_left: + - - -0.32 + - 0.05 + - 0.46 + - - -0.16 + - 0.12 + - 0.46 + slider_right: + - - -0.05 + - 0.05 + - 0.46 + - - 0.13 + - 0.12 + - 0.46 + objects: + fixed_objects: + table: + file: calvin_table_D/urdf/calvin_table_D.urdf + initial_pos: + - 0 + - 0 + - 0 + initial_orn: + - 0 + - 0 + - 0 + joints: + base__slide: + initial_state: 0 + base__drawer: + initial_state: 0 + buttons: + base__button: + initial_state: 0 + effect: led + switches: + base__switch: + initial_state: 0 + effect: lightbulb + lights: + lightbulb: + link: light_link + color: + - 1 + - 1 + - 0 + - 1 + led: + link: led_link + color: + - 0 + - 1 + - 0 + - 1 + movable_objects: + block_red: + file: blocks/block_red_middle.urdf + initial_pos: any + initial_orn: any + block_blue: + file: blocks/block_blue_small.urdf + initial_pos: any + initial_orn: any + block_pink: + file: blocks/block_pink_big.urdf + initial_pos: any + initial_orn: any + name: calvin_scene_D +robot: + _target_: calvin_env.robot.robot.Robot + filename: franka_panda/panda_longer_finger.urdf + base_position: ${scene.robot_base_position} + base_orientation: ${scene.robot_base_orientation} + initial_joint_positions: ${scene.robot_initial_joint_positions} + max_joint_force: 200.0 + gripper_force: 200 + arm_joint_ids: + - 0 + - 1 + - 2 + - 3 + - 4 + - 5 + - 6 + gripper_joint_ids: + - 9 + - 11 + gripper_joint_limits: + - 0 + - 0.04 + tcp_link_id: 15 + end_effector_link_id: 7 + gripper_cam_link: 12 + use_nullspace: true + max_velocity: 2 + use_ik_fast: false + magic_scaling_factor_pos: 1 + magic_scaling_factor_orn: 1 + use_target_pose: true + euler_obs: true +tasks: + _target_: calvin_env.envs.tasks.Tasks + tasks: + rotate_red_block_right: + - rotate_object + - block_red + - -60 + rotate_red_block_left: + - rotate_object + - block_red + - 60 + rotate_blue_block_right: + - rotate_object + - block_blue + - -60 + rotate_blue_block_left: + - rotate_object + - block_blue + - 60 + rotate_pink_block_right: + - rotate_object + - block_pink + - -60 + rotate_pink_block_left: + - rotate_object + - block_pink + - 60 + push_red_block_right: + - push_object + - block_red + - 0.1 + - 0 + push_red_block_left: + - push_object + - block_red + - -0.1 + - 0 + push_blue_block_right: + - push_object + - block_blue + - 0.1 + - 0 + push_blue_block_left: + - push_object + - block_blue + - -0.1 + - 0 + push_pink_block_right: + - push_object + - block_pink + - 0.1 + - 0 + push_pink_block_left: + - push_object + - block_pink + - -0.1 + - 0 + move_slider_left: + - move_door_rel + - base__slide + - 0.15 + move_slider_right: + - move_door_rel + - base__slide + - -0.15 + open_drawer: + - move_door_rel + - base__drawer + - 0.12 + close_drawer: + - move_door_rel + - base__drawer + - -0.12 + lift_red_block_table: + - lift_object + - block_red + - 0.05 + - table + - base_link + lift_red_block_slider: + - lift_object + - block_red + - 0.03 + - table + - plank_link + lift_red_block_drawer: + - lift_object + - block_red + - 0.05 + - table + - drawer_link + lift_blue_block_table: + - lift_object + - block_blue + - 0.05 + - table + - base_link + lift_blue_block_slider: + - lift_object + - block_blue + - 0.03 + - table + - plank_link + lift_blue_block_drawer: + - lift_object + - block_blue + - 0.05 + - table + - drawer_link + lift_pink_block_table: + - lift_object + - block_pink + - 0.05 + - table + - base_link + lift_pink_block_slider: + - lift_object + - block_pink + - 0.03 + - table + - plank_link + lift_pink_block_drawer: + - lift_object + - block_pink + - 0.05 + - table + - drawer_link + place_in_slider: + - place_object + - table + - plank_link + place_in_drawer: + - place_object + - table + - drawer_link + stack_block: + - stack_objects + unstack_block: + - unstack_objects + turn_on_lightbulb: + - toggle_light + - lightbulb + - 0 + - 1 + turn_off_lightbulb: + - toggle_light + - lightbulb + - 1 + - 0 + turn_on_led: + - toggle_light + - led + - 0 + - 1 + turn_off_led: + - toggle_light + - led + - 1 + - 0 + push_into_drawer: + - push_object_into + - - block_red + - block_blue + - block_pink + - table + - base_link + - table + - drawer_link +recorder: + record: ${record} + record_fps: 30.0 + show_fps: false + enable_tts: true +seed: 0 +use_vr: true +data_path: data +save_dir: /home/meeso/recordings +record: true +load_dir: /work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-09-12/11-36-05/ +show_gui: false +processes: 16 +max_episode_frames: 1 +save_body_infos: true +set_static_cam: false diff --git a/all_scale_D/scale_70/training/.hydra/overrides.yaml b/all_scale_D/scale_70/training/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..530ed5076f96af700452db9fc96f4a75576c8f81 --- /dev/null +++ b/all_scale_D/scale_70/training/.hydra/overrides.yaml @@ -0,0 +1,5 @@ +- load_dir=/work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/ +- set_static_cam=false +- processes=16 +- +scene=calvin_scene_A +- show_gui=false diff --git a/all_scale_D/scale_70/training/ep_lens.npy b/all_scale_D/scale_70/training/ep_lens.npy new file mode 100644 index 0000000000000000000000000000000000000000..4a0a74bef1c685f278c01e0e72e3eee2dccda0d3 --- /dev/null +++ b/all_scale_D/scale_70/training/ep_lens.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86d6dc0b44ab7910669786fdb8a24a00b54b5806d7a33b3339f5da47d6b6deec +size 376 diff --git a/all_scale_D/scale_70/training/ep_start_end_ids.npy b/all_scale_D/scale_70/training/ep_start_end_ids.npy new file mode 100644 index 0000000000000000000000000000000000000000..59dc77d8d4806e64c9b437ecfdf1b8a8393b3169 --- /dev/null +++ b/all_scale_D/scale_70/training/ep_start_end_ids.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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b/all_scale_D/scale_70/training/lang_paraphrase-MiniLM-L3-v2/auto_lang_ann.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b336682ffe5a4ae4776c4ae81c153a7c058a30a1dea0ae4f78ede83054f27d5 +size 8108180 diff --git a/all_scale_D/scale_70/training/scene_info.npy b/all_scale_D/scale_70/training/scene_info.npy new file mode 100644 index 0000000000000000000000000000000000000000..f03a31f403268243f999e3765541105e2702f852 --- /dev/null +++ b/all_scale_D/scale_70/training/scene_info.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22305b276e5db506bd6d3d6d9b84b9d243b62a9d3b4a48ec94449b07a77e1db6 +size 408 diff --git a/all_scale_D/scale_70/training/statistics.yaml b/all_scale_D/scale_70/training/statistics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..956d04c395133944758761a1dce39f689bef9001 --- /dev/null +++ b/all_scale_D/scale_70/training/statistics.yaml @@ -0,0 +1,21 @@ +robot_obs: + - _target_: calvin_agent.utils.transforms.NormalizeVector + mean: [0.039233, -0.118554, 0.507826, 1.079174, -0.083069, 1.579753, + 0.054622, -0.736859, 1.017769, 1.792879, -2.099604, -0.993738, + 1.790842, 0.586534, 0.095367] + std: [0.150769, 0.1104 , 0.06253 , 2.883517, 0.126405, 0.377196, + 0.030152, 0.334392, 0.172714, 0.240513, 0.3842 , 0.198596, + 0.158712, 0.346865, 0.995442] +scene_obs: + - _target_: calvin_agent.utils.transforms.NormalizeVector + mean: [0.150934, 0.119917, 0.000239, 0.042049, 0.487755, 0.47448 , + 0.057482, -0.088074, 0.431237, 0.046034, 0.030599, 0.027333, + 0.062103, -0.092833, 0.430236, -0.054962, 0.019381, 0.096546, + 0.064944, -0.093058, 0.428381, 0.024941, 0.002746, -0.031589] + std: [ 0.125757, 0.09654 , 0.002148, 0.041916, 0.49985 , 0.499348, + 0.146225, 0.119266, 0.050408, 1.430807, 0.676023, 2.017468, + 0.142979, 0.113236, 0.049651, 1.545888, 0.3906 , 1.763569, + 0.143077, 0.11546 , 0.050363, 1.514873, 0.431664, 1.860245] + +act_min_bound: [-0.432188, -0.545456, 0.293439, -3.141593, -0.811348, -3.141573, -1. ] +act_max_bound: [0.42977 , 0.139396, 0.796262, 3.141592, 0.638583, 3.141551, 1. ] diff --git a/all_scale_D/scale_70/validation/.hydra/config.yaml b/all_scale_D/scale_70/validation/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..eb0131f97bc0efede43ce12f525b901bd239649c --- /dev/null +++ b/all_scale_D/scale_70/validation/.hydra/config.yaml @@ -0,0 +1,151 @@ +cameras: + static: + _target_: vr_env.camera.static_camera.StaticCamera + name: static + fov: 10 + aspect: 1 + nearval: 0.01 + farval: 10 + width: 200 + height: 200 + look_at: + - -0.026242351159453392 + - -0.0302329882979393 + - 0.3920000493526459 + look_from: + - 2.871459009488717 + - -2.166602199425597 + - 2.555159848480571 + up_vector: + - 0.4041403970338857 + - 0.22629790978217404 + - 0.8862616969685161 + gripper: + _target_: vr_env.camera.gripper_camera.GripperCamera + name: gripper + fov: 75 + aspect: 1 + nearval: 0.01 + farval: 2 + width: 84 + height: 84 + tactile: + _target_: vr_env.camera.tactile_sensor.TactileSensor + name: tactile + width: 120 + height: 160 + digit_link_ids: + - 10 + - 12 + visualize_gui: false + config_path: conf/digit_sensor/config_digit.yml +load_dir: /work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/ +data_path: data +save_dir: ??? +show_gui: false +processes: 16 +max_episode_frames: 1 +save_body_infos: true +set_static_cam: false +env: + cameras: ${cameras} + show_gui: ${show_gui} + use_vr: false +scene: + _target_: vr_env.scene.play_table_scene.PlayTableScene + _recursive_: false + name: calvin_scene_A + data_path: ${data_path} + global_scaling: 0.8 + euler_obs: ${robot.euler_obs} + robot_base_position: + - -0.34 + - -0.46 + - 0.24 + robot_base_orientation: + - 0 + - 0 + - 0 + robot_initial_joint_positions: + - -1.21779206 + - 1.03987646 + - 2.11978261 + - -2.34205014 + - -0.87015947 + - 1.64119353 + - 0.55344866 + surfaces: + table: + - - 0.0 + - -0.15 + - 0.46 + - - 0.35 + - -0.03 + - 0.46 + slider_left: + - - -0.32 + - 0.05 + - 0.46 + - - -0.16 + - 0.12 + - 0.46 + slider_right: + - - -0.05 + - 0.05 + - 0.46 + - - 0.13 + - 0.12 + - 0.46 + objects: + fixed_objects: + table: + file: calvin_table_A/urdf/calvin_table_A.urdf + initial_pos: + - 0 + - 0 + - 0 + initial_orn: + - 0 + - 0 + - 0 + joints: + base__slide: + initial_state: 0 + base__drawer: + initial_state: 0 + buttons: + base__button: + initial_state: 0 + effect: led + switches: + base__switch: + initial_state: 0 + effect: lightbulb + lights: + lightbulb: + link: light_link + color: + - 1 + - 1 + - 0 + - 1 + led: + link: led_link + color: + - 0 + - 1 + - 0 + - 1 + movable_objects: + block_red: + file: blocks/block_red_middle.urdf + initial_pos: any + initial_orn: any + block_blue: + file: blocks/block_blue_small.urdf + initial_pos: any + initial_orn: any + block_pink: + file: blocks/block_pink_big.urdf + initial_pos: any + initial_orn: any diff --git a/all_scale_D/scale_70/validation/.hydra/hydra.yaml b/all_scale_D/scale_70/validation/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6ac4a26982003b959b1d43745333f5728d4fbb83 --- /dev/null +++ b/all_scale_D/scale_70/validation/.hydra/hydra.yaml @@ -0,0 +1,170 @@ +hydra: + run: + dir: /work/dlclarge2/meeso-lfp/calvin_data/task_A_A/ + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + colorlog: + (): colorlog.ColoredFormatter + format: '[%(cyan)s%(asctime)s%(reset)s][%(purple)sHYDRA%(reset)s] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: colorlog + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + colorlog: + (): colorlog.ColoredFormatter + format: '[%(cyan)s%(asctime)s%(reset)s][%(blue)s%(name)s%(reset)s][%(log_color)s%(levelname)s%(reset)s] + - %(message)s' + log_colors: + DEBUG: purple + INFO: green + WARNING: yellow + ERROR: red + CRITICAL: red + handlers: + console: + class: logging.StreamHandler + formatter: colorlog + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.run.dir=/work/dlclarge2/meeso-lfp/calvin_data/task_A_A/ + task: + - load_dir=/work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/ + - set_static_cam=false + - processes=16 + - +scene=calvin_scene_A + - show_gui=false + job: + name: datarenderer + 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 + id: ??? + num: ??? + config_name: config_rendering + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.1.1 + cwd: /home/meeso/VRENVCalvinRender/vr_env + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /home/meeso/VRENVCalvinRender/conf + schema: file + provider: main + - path: hydra_plugins.hydra_colorlog.conf + schema: pkg + provider: hydra-colorlog + - path: '' + schema: structured + provider: schema + choices: + scene: calvin_scene_A + cameras: static_gripper_tactile + cameras/cameras@cameras.tactile: tactile + cameras/cameras@cameras.gripper: gripper + cameras/cameras@cameras.static: static + hydra/env: default + hydra/callbacks: null + hydra/job_logging: colorlog + hydra/hydra_logging: colorlog + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/all_scale_D/scale_70/validation/.hydra/merged_config.yaml b/all_scale_D/scale_70/validation/.hydra/merged_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..23021af04d23e6477a88ad6aa66f3a8806843224 --- /dev/null +++ b/all_scale_D/scale_70/validation/.hydra/merged_config.yaml @@ -0,0 +1,393 @@ +cameras: + static: + _target_: calvin_env.camera.static_camera.StaticCamera + name: static + fov: 10 + aspect: 1 + nearval: 0.01 + farval: 10 + width: 200 + height: 200 + look_at: + - -0.026242351159453392 + - -0.0302329882979393 + - 0.3920000493526459 + look_from: + - 2.871459009488717 + - -2.166602199425597 + - 2.555159848480571 + up_vector: + - 0.4041403970338857 + - 0.22629790978217404 + - 0.8862616969685161 + gripper: + _target_: calvin_env.camera.gripper_camera.GripperCamera + name: gripper + fov: 75 + aspect: 1 + nearval: 0.01 + farval: 2 + width: 84 + height: 84 + tactile: + _target_: calvin_env.camera.tactile_sensor.TactileSensor + name: tactile + width: 120 + height: 160 + digit_link_ids: + - 10 + - 12 + visualize_gui: false + config_path: conf/digit_sensor/config_digit.yml +vr_input: + vr_controller: + POSITION: 1 + ORIENTATION: 2 + ANALOG: 3 + BUTTONS: 6 + BUTTON_A: 2 + BUTTON_B: 1 + vr_controller_id: 3 + gripper_orientation_offset: + - 0 + - 3 + - 3.14 + gripper_position_offset: + - -0.2 + - 0.3 + - 0 + _target_: calvin_env.io_utils.vr_input.VrInput + limit_angle: + - 90 + - 0 + - 0 + - -1 + visualize_vr_pos: true + reset_button_queue_len: 60 +env: + _target_: calvin_env.envs.play_table_env.PlayTableSimEnv + _recursive_: false + cameras: ${cameras} + seed: 0 + bullet_time_step: 240.0 + use_vr: false + show_gui: ${show_gui} + robot_cfg: ${robot} + scene_cfg: ${scene} + use_scene_info: false + use_egl: true + control_freq: 30 +scene: + _target_: calvin_env.scene.play_table_scene.PlayTableScene + _recursive_: false + data_path: ${data_path} + global_scaling: 0.8 + euler_obs: ${robot.euler_obs} + robot_base_position: + - -0.34 + - -0.46 + - 0.24 + robot_base_orientation: + - 0 + - 0 + - 0 + robot_initial_joint_positions: + - -1.21779206 + - 1.03987646 + - 2.11978261 + - -2.34205014 + - -0.87015947 + - 1.64119353 + - 0.55344866 + surfaces: + table: + - - 0.0 + - -0.15 + - 0.46 + - - 0.35 + - -0.03 + - 0.46 + slider_left: + - - -0.32 + - 0.05 + - 0.46 + - - -0.16 + - 0.12 + - 0.46 + slider_right: + - - -0.05 + - 0.05 + - 0.46 + - - 0.13 + - 0.12 + - 0.46 + objects: + fixed_objects: + table: + file: calvin_table_D/urdf/calvin_table_D.urdf + initial_pos: + - 0 + - 0 + - 0 + initial_orn: + - 0 + - 0 + - 0 + joints: + base__slide: + initial_state: 0 + base__drawer: + initial_state: 0 + buttons: + base__button: + initial_state: 0 + effect: led + switches: + base__switch: + initial_state: 0 + effect: lightbulb + lights: + lightbulb: + link: light_link + color: + - 1 + - 1 + - 0 + - 1 + led: + link: led_link + color: + - 0 + - 1 + - 0 + - 1 + movable_objects: + block_red: + file: blocks/block_red_middle.urdf + initial_pos: any + initial_orn: any + block_blue: + file: blocks/block_blue_small.urdf + initial_pos: any + initial_orn: any + block_pink: + file: blocks/block_pink_big.urdf + initial_pos: any + initial_orn: any + name: calvin_scene_D +robot: + _target_: calvin_env.robot.robot.Robot + filename: franka_panda/panda_longer_finger.urdf + base_position: ${scene.robot_base_position} + base_orientation: ${scene.robot_base_orientation} + initial_joint_positions: ${scene.robot_initial_joint_positions} + max_joint_force: 200.0 + gripper_force: 200 + arm_joint_ids: + - 0 + - 1 + - 2 + - 3 + - 4 + - 5 + - 6 + gripper_joint_ids: + - 9 + - 11 + gripper_joint_limits: + - 0 + - 0.04 + tcp_link_id: 15 + end_effector_link_id: 7 + gripper_cam_link: 12 + use_nullspace: true + max_velocity: 2 + use_ik_fast: false + magic_scaling_factor_pos: 1 + magic_scaling_factor_orn: 1 + use_target_pose: true + euler_obs: true +tasks: + _target_: calvin_env.envs.tasks.Tasks + tasks: + rotate_red_block_right: + - rotate_object + - block_red + - -60 + rotate_red_block_left: + - rotate_object + - block_red + - 60 + rotate_blue_block_right: + - rotate_object + - block_blue + - -60 + rotate_blue_block_left: + - rotate_object + - block_blue + - 60 + rotate_pink_block_right: + - rotate_object + - block_pink + - -60 + rotate_pink_block_left: + - rotate_object + - block_pink + - 60 + push_red_block_right: + - push_object + - block_red + - 0.1 + - 0 + push_red_block_left: + - push_object + - block_red + - -0.1 + - 0 + push_blue_block_right: + - push_object + - block_blue + - 0.1 + - 0 + push_blue_block_left: + - push_object + - block_blue + - -0.1 + - 0 + push_pink_block_right: + - push_object + - block_pink + - 0.1 + - 0 + push_pink_block_left: + - push_object + - block_pink + - -0.1 + - 0 + move_slider_left: + - move_door_rel + - base__slide + - 0.15 + move_slider_right: + - move_door_rel + - base__slide + - -0.15 + open_drawer: + - move_door_rel + - base__drawer + - 0.12 + close_drawer: + - move_door_rel + - base__drawer + - -0.12 + lift_red_block_table: + - lift_object + - block_red + - 0.05 + - table + - base_link + lift_red_block_slider: + - lift_object + - block_red + - 0.03 + - table + - plank_link + lift_red_block_drawer: + - lift_object + - block_red + - 0.05 + - table + - drawer_link + lift_blue_block_table: + - lift_object + - block_blue + - 0.05 + - table + - base_link + lift_blue_block_slider: + - lift_object + - block_blue + - 0.03 + - table + - plank_link + lift_blue_block_drawer: + - lift_object + - block_blue + - 0.05 + - table + - drawer_link + lift_pink_block_table: + - lift_object + - block_pink + - 0.05 + - table + - base_link + lift_pink_block_slider: + - lift_object + - block_pink + - 0.03 + - table + - plank_link + lift_pink_block_drawer: + - lift_object + - block_pink + - 0.05 + - table + - drawer_link + place_in_slider: + - place_object + - table + - plank_link + place_in_drawer: + - place_object + - table + - drawer_link + stack_block: + - stack_objects + unstack_block: + - unstack_objects + turn_on_lightbulb: + - toggle_light + - lightbulb + - 0 + - 1 + turn_off_lightbulb: + - toggle_light + - lightbulb + - 1 + - 0 + turn_on_led: + - toggle_light + - led + - 0 + - 1 + turn_off_led: + - toggle_light + - led + - 1 + - 0 + push_into_drawer: + - push_object_into + - - block_red + - block_blue + - block_pink + - table + - base_link + - table + - drawer_link +recorder: + record: ${record} + record_fps: 30.0 + show_fps: false + enable_tts: true +seed: 0 +use_vr: true +data_path: data +save_dir: /home/meeso/recordings +record: true +load_dir: /work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-09-12/11-36-05/ +show_gui: false +processes: 16 +max_episode_frames: 1 +save_body_infos: true +set_static_cam: false diff --git a/all_scale_D/scale_70/validation/.hydra/overrides.yaml b/all_scale_D/scale_70/validation/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..530ed5076f96af700452db9fc96f4a75576c8f81 --- /dev/null +++ b/all_scale_D/scale_70/validation/.hydra/overrides.yaml @@ -0,0 +1,5 @@ +- load_dir=/work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/ +- set_static_cam=false +- processes=16 +- +scene=calvin_scene_A +- show_gui=false diff --git a/all_scale_D/scale_70/validation/ep_lens.npy b/all_scale_D/scale_70/validation/ep_lens.npy new file mode 100644 index 0000000000000000000000000000000000000000..df108f277dc5dc4854ab0c111bd9cb8817a32589 --- /dev/null +++ b/all_scale_D/scale_70/validation/ep_lens.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:949fa58b56382c483cbcaae264e7b1832789079fb429dc0c0bfcfc3efcc55cb1 +size 160 diff --git a/all_scale_D/scale_70/validation/ep_start_end_ids.npy b/all_scale_D/scale_70/validation/ep_start_end_ids.npy new file mode 100644 index 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0.198596, + 0.158712, 0.346865, 0.995442] +scene_obs: + - _target_: calvin_agent.utils.transforms.NormalizeVector + mean: [0.150934, 0.119917, 0.000239, 0.042049, 0.487755, 0.47448 , + 0.057482, -0.088074, 0.431237, 0.046034, 0.030599, 0.027333, + 0.062103, -0.092833, 0.430236, -0.054962, 0.019381, 0.096546, + 0.064944, -0.093058, 0.428381, 0.024941, 0.002746, -0.031589] + std: [ 0.125757, 0.09654 , 0.002148, 0.041916, 0.49985 , 0.499348, + 0.146225, 0.119266, 0.050408, 1.430807, 0.676023, 2.017468, + 0.142979, 0.113236, 0.049651, 1.545888, 0.3906 , 1.763569, + 0.143077, 0.11546 , 0.050363, 1.514873, 0.431664, 1.860245] + +act_min_bound: [-0.432188, -0.545456, 0.293439, -3.141593, -0.811348, -3.141573, -1. ] +act_max_bound: [0.42977 , 0.139396, 0.796262, 3.141592, 0.638583, 3.141551, 1. ]