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0000000000000000000000000000000000000000..c1a9fd3465b912fe490d3684fb273a149df7d47b --- /dev/null +++ b/project/ManiSkill3/src/maniskill2_benchmark/cfdp_experiment/cfdp/motion_planner/neural_motion_planner.py @@ -0,0 +1,254 @@ +from typing import Optional, Dict, Any, Union +import numpy as np +import torch +import time + + +from cfdp.motion_planner.motion_planner_policy_base import MotionPlannerPolicyBase +from cfdp.diffusion_policy.utils.utils import TimerCUDA +from cfdp.diffusion_policy.models.sample_functions import ddpm_sample_fn, ddpm_sample_fn_stomp +from cfdp.diffusion_policy.models.diffusion_model_base import build_condition +from cfdp.utils.angle_utils import quaternion_difference, quaternion_to_euler +from cfdp.utils.data_utils import transform_quat_to_ortho6d, transform_ortho6d_to_quat, ObsQueue +from cfdp.motion_planner.motion_controller import FollowPathController, JointStateController +from cfdp.utils.rdp_path_simplify import simplify_waypoints_preserve_format_t + + +import matplotlib.pyplot as plt +import matplotlib +matplotlib.use('TkAgg') # Enable interactive mode + +from mpl_toolkits.mplot3d import Axes3D + +class NeuralMotionPlannerPolicy(MotionPlannerPolicyBase): + def __init__(self, + action_dim, + model, + dataset, # dataset class for normalization + trajectory_length, + inference_cfg, + observation_wrapper, + use_ee_control = True, + guide_manager = None, + rank_fn = None, + debug=False): + super().__init__(action_dim, debug) + self.model = model + self.dataset = dataset + self.dataset.normalizer.to(model.device) + + self.trajectory_length = trajectory_length + self.inference_cfg = inference_cfg + self.all_trajs = None + self.guide_manager = guide_manager + self.rank_fn = rank_fn + self.observation_wrapper = observation_wrapper + self.point_cloud = None + self.use_ee_control = use_ee_control + if use_ee_control: + self.controller = FollowPathController() + self.sample_fn = ddpm_sample_fn + else: + self.controller = JointStateController() + self.sample_fn = ddpm_sample_fn_stomp + + def _plan(self, + context, + hard_conds, + trajectory_prior=None, + index=None, + choice='interpolate', + timestep=None, + do_normalize=True) -> Optional[Dict[str, Any]]: + """ + Common planning logic used by both plan_path and plan_path_with_history + + Args: + context: Preprocessed context information + hard_conds: Hard conditions for the planner + trajectory_prior: Optional prior trajectory to guide planning + index: Index for replanning + choice: Strategy for replanning ('interpolate' or other options) + timestep: Current timestep + do_normalize: Whether the trajectory_prior needs normalization + """ + if self.guide_manager is not None: + self.guide_manager.reset() + + # DDPM sampling loop setup + sample_fn_kwargs = dict( + guide=self.guide_manager, + ddim=self.inference_cfg.use_ddim, + rank_fn = self.rank_fn, + n_guide_steps=self.inference_cfg.sample_fn.n_guide_steps, + t_start_guide=self.inference_cfg.sample_fn.t_start_guide, + noise_std_extra_schedule_fn=lambda x: self.inference_cfg.sample_fn.noise_std_extra_schedule_fn, + debug=self.debug + ) + + if trajectory_prior is None: + # Generate a new trajectory + with TimerCUDA() as timer_model_sampling: + print("_______________________TEST__________________________") + trajs_normalized_iters = self.model.run_inference( + context, hard_conds, + n_samples=self.inference_cfg.n_samples, horizon=self.trajectory_length, + return_chain=True, + sample_fn=self.sample_fn, + n_diffusion_steps_without_noise=self.inference_cfg.n_diffusion_steps_without_noise, + **sample_fn_kwargs, + ) + else: + # Replan with a prior trajectory + if do_normalize: + trajectory_prior = self.dataset.normalizer.normalize(trajectory_prior, self.dataset.data_key_traj) + with TimerCUDA() as timer_model_sampling: + trajs_normalized_iters = self.model.run_inference_with_replanning( + context, + hard_conds, + n_samples=self.inference_cfg.n_samples, horizon=self.trajectory_length, + return_chain=True, + sample_fn=self.sample_fn, + **sample_fn_kwargs, + n_diffusion_steps_without_noise=self.inference_cfg.n_diffusion_steps_without_noise, + trajectory_prior=trajectory_prior, + index=index, + choice=choice, + trajectory_length=self.trajectory_length, + timestep=timestep, + ) + + # Unnormalize trajectories + trajs_unnormalized = self.dataset.normalizer.unnormalize(trajs_normalized_iters, self.dataset.data_key_traj) + self.all_traj_normalized = trajs_normalized_iters[-1] + self.all_trajs = trajs_unnormalized[-1] + final_traj = self.all_trajs[0] + self.original_path = final_traj + _, self.planned_path = simplify_waypoints_preserve_format_t(final_traj, eps_pos=0.02, eps_ang_deg=10) + self.current_path_index = 0 + return final_traj #return unnormalized trajectory + + def _prepare_planning_inputs(self, obs, do_normalize, trajectory_prior, + index=None, timestep=None, choice=None): + processed_obs = self.observation_wrapper.update_observation(obs) + hard_conds = processed_obs['hard_conds'] + context = build_condition(self.model, self.dataset, processed_obs['context']) + if 'point_cloud' in processed_obs and processed_obs['point_cloud'] is not None: + self.point_cloud = processed_obs['point_cloud'] + + if self.guide_manager is not None: + self.guide_manager.update_observation(processed_obs) + if self.rank_fn is not None: + self.rank_fn.update_observation(processed_obs) + + return self._plan( + context=context, + hard_conds=hard_conds, + trajectory_prior=trajectory_prior, + index=index, + choice=choice or 'interpolate', + timestep=timestep, + do_normalize=do_normalize + ) + + def plan_path(self, + obs: Dict[str, Any], + trajectory_prior=None, + index=None, + do_normalize=True, + timestep=None) -> Optional[Dict[str, Any]]: + return self._prepare_planning_inputs( + obs=obs, + trajectory_prior=trajectory_prior, + index=index, + do_normalize=do_normalize, + timestep=timestep, + choice='interpolate' + ) + + def plan_path_with_history(self, + obs, + trajectory_prior=None, + timestep=None, + choice=None, + do_normalize=True) -> Optional[Dict[str, Any]]: + return self._prepare_planning_inputs( + obs=obs, + trajectory_prior=trajectory_prior, + timestep=timestep, + choice=choice, + do_normalize=do_normalize + ) + + def compute_control(self, current_state: Dict[str, Any], target_state: np.ndarray, real_robot: bool = False) -> np.ndarray: + if self.use_ee_control: + return self.compute_control_ee(current_state, target_state, real_robot) + else: + return self.compute_control_joint(current_state, target_state, real_robot) + + def compute_control_joint(self, current_state: Dict[str, Any], target_state: np.ndarray, real_robot) -> np.ndarray: + """Generate control action to move from current state to target state. + This neural network output joint states so this is a joint state control policy. + """ + current_joint_state = current_state['agent']['qpos'][:self.action_dim] + target_joint_state = target_state[:self.action_dim] + + # Ensure tensors are converted to numpy arrays + target_joint_state = target_joint_state.cpu().numpy() if torch.is_tensor(target_joint_state) else target_joint_state + current_joint_state = current_joint_state.cpu().numpy() if torch.is_tensor(current_joint_state) else current_joint_state + if real_robot: + if self.current_path_index + 1 < len(self.original_path): + self.current_path_index += 1 + return target_joint_state + action = self.controller.compute_control(current_joint_state, target_joint_state) + + if(np.linalg.norm(target_joint_state[:-2] - current_joint_state[:-2]) < 0.2): + # print("delta joint state is: ", np.linalg.norm(target_joint_state[:-2] - current_joint_state[:-2])) + if self.current_path_index + 1 < len(self.original_path): + self.current_path_index += 1 + return np.array(action[:self.action_dim]) + + def compute_control_ee(self, current_state: Dict[str, Any], target_state: np.ndarray, real_robot) -> np.ndarray: + """Generate control action to move from current state to target state. + This neural network output end-effector states so this is an end-effector control policy. + """ + current_ee_pose = current_state['extra']['tcp_pose'] + if np.linalg.norm(current_ee_pose[:3]-current_state['extra']['goal_pose'][:3]) <0.1: + target_state = current_state['extra']['goal_pose'] + target_ee_pose = target_state + if target_ee_pose.shape[0] == 9: + target_ee_pose = transform_ortho6d_to_quat(target_ee_pose).squeeze(0) + + # Ensure tensors are converted to numpy arrays + target_ee_pose = target_ee_pose.cpu().numpy() if torch.is_tensor(target_ee_pose) else target_ee_pose + current_ee_pose = current_ee_pose.cpu().numpy() if torch.is_tensor(current_ee_pose) else current_ee_pose + + action, target_ee_pose, current_path_index = self.controller.compute_control(current_ee_pose, target_ee_pose, self.planned_path, self.current_path_index, self.use_path_projection) + self.current_path_index = current_path_index + if real_robot: + return target_ee_pose + return np.array(action[:self.action_dim]) + + def compute_action(self, current_state: Dict[str, Any], target_state: np.ndarray) -> np.ndarray: + """Generate control action to move from current state to target state. + This neural network output end-effector states so this is an end-effector control policy. + """ + current_ee_pose = current_state['extra']['tcp_pose'] + target_ee_pose = target_state + if target_ee_pose.shape[0] == 9: + target_ee_pose = transform_ortho6d_to_quat(target_ee_pose).squeeze(0) + + position_error = target_ee_pose[:3] - current_ee_pose[:3] + rotation_error = quaternion_difference(target_ee_pose[3:7], current_ee_pose[3:7]) + euler_error = quaternion_to_euler(rotation_error) + action = np.concatenate([position_error, euler_error, np.array([0.0])]) + return np.array(action) + + def reset(self, obstacle_point_cloud = None): + self.original_path = None + self.planned_path = None + self.current_path_index = 0 + self.use_path_projection = True # Enable path projection by default + if self.guide_manager: + self.guide_manager.reset() + # neural network reset \ No newline at end of file diff --git a/project/ManiSkill3/src/maniskill2_benchmark/mani_skill2_repo/.eggs/setuptools-80.9.0-py3.10.egg/setuptools/_distutils/tests/test_check.py b/project/ManiSkill3/src/maniskill2_benchmark/mani_skill2_repo/.eggs/setuptools-80.9.0-py3.10.egg/setuptools/_distutils/tests/test_check.py new file mode 100644 index 0000000000000000000000000000000000000000..b672b1f972b46f399eb5b2ef263da2548d52ef89 --- /dev/null +++ b/project/ManiSkill3/src/maniskill2_benchmark/mani_skill2_repo/.eggs/setuptools-80.9.0-py3.10.egg/setuptools/_distutils/tests/test_check.py @@ -0,0 +1,194 @@ +"""Tests for distutils.command.check.""" + +import os +import textwrap +from distutils.command.check import check +from distutils.errors import DistutilsSetupError +from distutils.tests import support + +import pytest + +try: + import pygments +except ImportError: + pygments = None + + +HERE = os.path.dirname(__file__) + + +@support.combine_markers +class TestCheck(support.TempdirManager): + def _run(self, metadata=None, cwd=None, **options): + if metadata is None: + metadata = {} + if cwd is not None: + old_dir = os.getcwd() + os.chdir(cwd) + pkg_info, dist = self.create_dist(**metadata) + cmd = check(dist) + cmd.initialize_options() + for name, value in options.items(): + setattr(cmd, name, value) + cmd.ensure_finalized() + cmd.run() + if cwd is not None: + os.chdir(old_dir) + return cmd + + def test_check_metadata(self): + # let's run the command with no metadata at all + # by default, check is checking the metadata + # should have some warnings + cmd = self._run() + assert cmd._warnings == 1 + + # now let's add the required fields + # and run it again, to make sure we don't get + # any warning anymore + metadata = { + 'url': 'xxx', + 'author': 'xxx', + 'author_email': 'xxx', + 'name': 'xxx', + 'version': 'xxx', + } + cmd = self._run(metadata) + assert cmd._warnings == 0 + + # now with the strict mode, we should + # get an error if there are missing metadata + with pytest.raises(DistutilsSetupError): + self._run({}, **{'strict': 1}) + + # and of course, no error when all metadata are present + cmd = self._run(metadata, strict=True) + assert cmd._warnings == 0 + + # now a test with non-ASCII characters + metadata = { + 'url': 'xxx', + 'author': '\u00c9ric', + 'author_email': 'xxx', + 'name': 'xxx', + 'version': 'xxx', + 'description': 'Something about esszet \u00df', + 'long_description': 'More things about esszet \u00df', + } + cmd = self._run(metadata) + assert cmd._warnings == 0 + + def test_check_author_maintainer(self): + for kind in ("author", "maintainer"): + # ensure no warning when author_email or maintainer_email is given + # (the spec allows these fields to take the form "Name ") + metadata = { + 'url': 'xxx', + kind + '_email': 'Name ', + 'name': 'xxx', + 'version': 'xxx', + } + cmd = self._run(metadata) + assert cmd._warnings == 0 + + # the check should not warn if only email is given + metadata[kind + '_email'] = 'name@email.com' + cmd = self._run(metadata) + assert cmd._warnings == 0 + + # the check should not warn if only the name is given + metadata[kind] = "Name" + del metadata[kind + '_email'] + cmd = self._run(metadata) + assert cmd._warnings == 0 + + def test_check_document(self): + pytest.importorskip('docutils') + pkg_info, dist = self.create_dist() + cmd = check(dist) + + # let's see if it detects broken rest + broken_rest = 'title\n===\n\ntest' + msgs = cmd._check_rst_data(broken_rest) + assert len(msgs) == 1 + + # and non-broken rest + rest = 'title\n=====\n\ntest' + msgs = cmd._check_rst_data(rest) + assert len(msgs) == 0 + + def test_check_restructuredtext(self): + pytest.importorskip('docutils') + # let's see if it detects broken rest in long_description + broken_rest = 'title\n===\n\ntest' + pkg_info, dist = self.create_dist(long_description=broken_rest) + cmd = check(dist) + cmd.check_restructuredtext() + assert cmd._warnings == 1 + + # let's see if we have an error with strict=True + metadata = { + 'url': 'xxx', + 'author': 'xxx', + 'author_email': 'xxx', + 'name': 'xxx', + 'version': 'xxx', + 'long_description': broken_rest, + } + with pytest.raises(DistutilsSetupError): + self._run(metadata, **{'strict': 1, 'restructuredtext': 1}) + + # and non-broken rest, including a non-ASCII character to test #12114 + metadata['long_description'] = 'title\n=====\n\ntest \u00df' + cmd = self._run(metadata, strict=True, restructuredtext=True) + assert cmd._warnings == 0 + + # check that includes work to test #31292 + metadata['long_description'] = 'title\n=====\n\n.. include:: includetest.rst' + cmd = self._run(metadata, cwd=HERE, strict=True, restructuredtext=True) + assert cmd._warnings == 0 + + def test_check_restructuredtext_with_syntax_highlight(self): + pytest.importorskip('docutils') + # Don't fail if there is a `code` or `code-block` directive + + example_rst_docs = [ + textwrap.dedent( + """\ + Here's some code: + + .. code:: python + + def foo(): + pass + """ + ), + textwrap.dedent( + """\ + Here's some code: + + .. code-block:: python + + def foo(): + pass + """ + ), + ] + + for rest_with_code in example_rst_docs: + pkg_info, dist = self.create_dist(long_description=rest_with_code) + cmd = check(dist) + cmd.check_restructuredtext() + msgs = cmd._check_rst_data(rest_with_code) + if pygments is not None: + assert len(msgs) == 0 + else: + assert len(msgs) == 1 + assert ( + str(msgs[0][1]) + == 'Cannot analyze code. Pygments package not found.' + ) + + def test_check_all(self): + with pytest.raises(DistutilsSetupError): + self._run({}, **{'strict': 1, 'restructuredtext': 1}) diff --git a/project/ManiSkill3/src/maniskill2_benchmark/mani_skill2_repo/.eggs/setuptools-80.9.0-py3.10.egg/setuptools/_distutils/tests/test_dir_util.py b/project/ManiSkill3/src/maniskill2_benchmark/mani_skill2_repo/.eggs/setuptools-80.9.0-py3.10.egg/setuptools/_distutils/tests/test_dir_util.py new file mode 100644 index 0000000000000000000000000000000000000000..326cb346145ec7e3a1dd0384c33d4125131feaae --- /dev/null +++ b/project/ManiSkill3/src/maniskill2_benchmark/mani_skill2_repo/.eggs/setuptools-80.9.0-py3.10.egg/setuptools/_distutils/tests/test_dir_util.py @@ -0,0 +1,139 @@ +"""Tests for distutils.dir_util.""" + +import os +import pathlib +import stat +import sys +import unittest.mock as mock +from distutils import dir_util, errors +from distutils.dir_util import ( + copy_tree, + create_tree, + ensure_relative, + mkpath, + remove_tree, +) +from distutils.tests import support + +import jaraco.path +import path +import pytest + + +@pytest.fixture(autouse=True) +def stuff(request, monkeypatch, distutils_managed_tempdir): + self = request.instance + tmp_dir = self.mkdtemp() + self.root_target = os.path.join(tmp_dir, 'deep') + self.target = os.path.join(self.root_target, 'here') + self.target2 = os.path.join(tmp_dir, 'deep2') + + +class TestDirUtil(support.TempdirManager): + def test_mkpath_remove_tree_verbosity(self, caplog): + mkpath(self.target, verbose=False) + assert not caplog.records + remove_tree(self.root_target, verbose=False) + + mkpath(self.target, verbose=True) + wanted = [f'creating {self.target}'] + assert caplog.messages == wanted + caplog.clear() + + remove_tree(self.root_target, verbose=True) + wanted = [f"removing '{self.root_target}' (and everything under it)"] + assert caplog.messages == wanted + + @pytest.mark.skipif("platform.system() == 'Windows'") + def test_mkpath_with_custom_mode(self): + # Get and set the current umask value for testing mode bits. + umask = os.umask(0o002) + os.umask(umask) + mkpath(self.target, 0o700) + assert stat.S_IMODE(os.stat(self.target).st_mode) == 0o700 & ~umask + mkpath(self.target2, 0o555) + assert stat.S_IMODE(os.stat(self.target2).st_mode) == 0o555 & ~umask + + def test_create_tree_verbosity(self, caplog): + create_tree(self.root_target, ['one', 'two', 'three'], verbose=False) + assert caplog.messages == [] + remove_tree(self.root_target, verbose=False) + + wanted = [f'creating {self.root_target}'] + create_tree(self.root_target, ['one', 'two', 'three'], verbose=True) + assert caplog.messages == wanted + + remove_tree(self.root_target, verbose=False) + + def test_copy_tree_verbosity(self, caplog): + mkpath(self.target, verbose=False) + + copy_tree(self.target, self.target2, verbose=False) + assert caplog.messages == [] + + remove_tree(self.root_target, verbose=False) + + mkpath(self.target, verbose=False) + a_file = path.Path(self.target) / 'ok.txt' + jaraco.path.build({'ok.txt': 'some content'}, self.target) + + wanted = [f'copying {a_file} -> {self.target2}'] + copy_tree(self.target, self.target2, verbose=True) + assert caplog.messages == wanted + + remove_tree(self.root_target, verbose=False) + remove_tree(self.target2, verbose=False) + + def test_copy_tree_skips_nfs_temp_files(self): + mkpath(self.target, verbose=False) + + jaraco.path.build({'ok.txt': 'some content', '.nfs123abc': ''}, self.target) + + copy_tree(self.target, self.target2) + assert os.listdir(self.target2) == ['ok.txt'] + + remove_tree(self.root_target, verbose=False) + remove_tree(self.target2, verbose=False) + + def test_ensure_relative(self): + if os.sep == '/': + assert ensure_relative('/home/foo') == 'home/foo' + assert ensure_relative('some/path') == 'some/path' + else: # \\ + assert ensure_relative('c:\\home\\foo') == 'c:home\\foo' + assert ensure_relative('home\\foo') == 'home\\foo' + + def test_copy_tree_exception_in_listdir(self): + """ + An exception in listdir should raise a DistutilsFileError + """ + with ( + mock.patch("os.listdir", side_effect=OSError()), + pytest.raises(errors.DistutilsFileError), + ): + src = self.tempdirs[-1] + dir_util.copy_tree(src, None) + + def test_mkpath_exception_uncached(self, monkeypatch, tmp_path): + """ + Caching should not remember failed attempts. + + pypa/distutils#304 + """ + + class FailPath(pathlib.Path): + def mkdir(self, *args, **kwargs): + raise OSError("Failed to create directory") + + if sys.version_info < (3, 12): + _flavour = pathlib.Path()._flavour + + target = tmp_path / 'foodir' + + with pytest.raises(errors.DistutilsFileError): + mkpath(FailPath(target)) + + assert not target.exists() + + mkpath(target) + assert target.exists() diff --git a/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/__pycache__/__init__.cpython-310.pyc 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b/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/common/paths.py @@ -0,0 +1,15 @@ +# All comments in English per your preference. +from __future__ import annotations +from pathlib import Path + +# Resolve package root from this file's location +PKG_DIR = Path(__file__).resolve().parent.parent +ASSETS_DIR = PKG_DIR / "assets" +ROBOT_ASSETS_DIR = ASSETS_DIR / "robot" + +def get_asset_path(*parts: str) -> str: + """ + Join parts under the package's assets directory. + Returns a string path for compatibility with libs expecting str. + """ + return str(ASSETS_DIR.joinpath(*parts)) \ No newline at end of file diff --git a/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/data_collection/__init__.py b/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/data_collection/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git 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differ diff --git a/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/data_collection/panda_run.py b/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/data_collection/panda_run.py new file mode 100644 index 0000000000000000000000000000000000000000..1293a990947af92d0bb8312b620cd7cb95737601 --- /dev/null +++ b/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/data_collection/panda_run.py @@ -0,0 +1,216 @@ +import multiprocessing as mp +import os +from copy import deepcopy +import time +import argparse +import gymnasium as gym +import numpy as np +from tqdm import tqdm +import os.path as osp +import sapien.core as sapien +# import tkinter as tk +from mani_skill.utils.wrappers.record import RecordEpisode +from mani_skill.trajectory.merge_trajectory import merge_trajectories +import msx_envs + +from mani_skill.examples.motionplanning.panda.solutions import ( + solvePushCube, + solvePickCube, + solveStackCube, + solvePegInsertionSide, + solvePlugCharger, + solvePullCubeTool, + solveLiftPegUpright, + solvePullCube, + solvePlateOnRack, + solveMugOnRack, + solveBowlOnRack, + solveStackMugOnRack, + solveStackBowl, + solveForkOnRack, + solveStackPlateOnRack, + solveMugOnCoffeeMachine, + solveMugFromCoffeeMachine, + solveSpoonOnRack, + solveKnifeOnRack, + solveGraspFork_v0, + solveGraspBowl_v0, + solveGraspPlate_v0, + solveGraspCup_v0, + ) + +from msx_envs.solutions import ( + solveSimpleReach, + solveGraspCup, # grasp_cup_testv3 + SolveBox +) + +MP_SOLUTIONS = { + "PickCube-v1": solvePickCube, + "StackCube-v1": solveStackCube, + "PegInsertionSide-v1": solvePegInsertionSide, + "PlugCharger-v1": solvePlugCharger, + "PushCube-v1": solvePushCube, + "PullCubeTool-v1": solvePullCubeTool, + "LiftPegUpright-v1": solveLiftPegUpright, + "PullCube-v1": solvePullCube, + "PlacePlateOnRack-v1": solvePlateOnRack, + "PlaceMugOnRack-v1": solveMugOnRack, + "PlaceBowlOnRack-v1": solveBowlOnRack, + "StackMugOnRack-v1": solveStackMugOnRack, + "StackBowl-v1": solveStackBowl, + "PlaceForkOnRack-v1": solveForkOnRack, + "StackPlateOnRack-v1": solveStackPlateOnRack, + "PlaceMugOnCoffeeMachine-v1": solveMugOnCoffeeMachine, + "PickMugFromCoffeeMachine-v1": solveMugFromCoffeeMachine, + "PlaceSpoonOnRack-v1": solveSpoonOnRack, + "PlaceKnifeOnRack-v1": solveKnifeOnRack, + "GraspFork-v0": solveGraspFork_v0, + "GraspBowl-v0": solveGraspBowl_v0, + "GraspBowl-v1": solveGraspBowl_v0, + "GraspPlate-v0": solveGraspPlate_v0, + "GraspCup-v0": solveGraspCup_v0, + "EmptyRandom-v0": solveSimpleReach, + "GraspCup-v1": solveGraspCup, + "GraspBox-v0": SolveBox, +} + +def parse_args(args=None): + parser = argparse.ArgumentParser() + parser.add_argument("-e", "--env-id", type=str, default="PickCube-v1", help=f"Environment to run motion planning solver on. Available options are {list(MP_SOLUTIONS.keys())}") + parser.add_argument("-o", "--obs-mode", type=str, default="none", help="Observation mode to use. Usually this is kept as 'none' as observations are not necesary to be stored, they can be replayed later via the mani_skill.trajectory.replay_trajectory script.") + parser.add_argument("-n", "--num-traj", type=int, default=10, help="Number of trajectories to generate.") + parser.add_argument("--only-count-success", action="store_true", help="If true, generates trajectories until num_traj of them are successful and only saves the successful trajectories/videos") + parser.add_argument("--reward-mode", type=str) + parser.add_argument("-b", "--sim-backend", type=str, default="auto", help="Which simulation backend to use. Can be 'auto', 'cpu', 'gpu'") + parser.add_argument("--render-mode", type=str, default="rgb_array", help="can be 'sensors' or 'rgb_array' which only affect what is saved to videos") + parser.add_argument("--vis", action="store_true", help="whether or not to open a GUI to visualize the solution live") + parser.add_argument("--save-video", action="store_true", help="whether or not to save videos locally") + parser.add_argument("--traj-name", type=str, help="The name of the trajectory .h5 file that will be created.") + parser.add_argument("--shader", default="default", type=str, help="Change shader used for rendering. Default is 'default' which is very fast. Can also be 'rt' for ray tracing and generating photo-realistic renders. Can also be 'rt-fast' for a faster but lower quality ray-traced renderer") + parser.add_argument("--record-dir", type=str, default="demos", help="where to save the recorded trajectories") + parser.add_argument("--num-procs", type=int, default=1, help="Number of processes to use to help parallelize the trajectory replay process. This uses CPU multiprocessing and only works with the CPU simulation backend at the moment.") + parser.add_argument("--rand_level", type=int, default=0, help="the level of randomization of objects in the task") + parser.add_argument("--robot_uids", type=str, default="panda_wristcam", help="set robot uids") + parser.add_argument("--distractors", type=int, default=0, help="number of distractors") + return parser.parse_args() + +def _main(args, proc_id: int = 0, start_seed: int = 0) -> str: + env_id = args.env_id + print(env_id) + env = gym.make( + env_id, + obs_mode=args.obs_mode, + control_mode="pd_joint_pos", + render_mode=args.render_mode, + reward_mode="dense" if args.reward_mode is None else args.reward_mode, + sensor_configs=dict(shader_pack=args.shader), + human_render_camera_configs=dict( + shader_pack=args.shader, + ), + viewer_camera_configs=dict(shader_pack=args.shader), + sim_backend=args.sim_backend, + rand_level=args.rand_level, + robot_uids=args.robot_uids, + distractor_count=args.distractors, + ) + + if env_id not in MP_SOLUTIONS: + raise RuntimeError(f"No already written motion planning solutions for {env_id}. Available options are {list(MP_SOLUTIONS.keys())}") + + if not args.traj_name: + new_traj_name = time.strftime("%Y%m%d_%H%M%S") + else: + new_traj_name = args.traj_name + + if args.num_procs > 1: + new_traj_name = new_traj_name + "." + str(proc_id) + env = RecordEpisode( + env, + output_dir=osp.join(args.record_dir, env_id, "motionplanning"), + trajectory_name=new_traj_name, save_video=args.save_video, + source_type="motionplanning", + source_desc="official motion planning solution from ManiSkill contributors", + video_fps=30, + save_on_reset=False + ) + output_h5_path = env._h5_file.filename + solve = MP_SOLUTIONS[env_id] + print(f"Motion Planning Running on {env_id}") + pbar = tqdm(range(args.num_traj), desc=f"proc_id: {proc_id}") + seed = start_seed + successes = [] + solution_episode_lengths = [] + failed_motion_plans = 0 + passed = 0 + while True: + # res = solve(env, seed=seed, debug=False, vis=True if args.vis else False) + try: + res = solve(env, seed=seed, debug=False, vis=True if args.vis else False) + except Exception as e: + print(f"Cannot find valid solution because of an error in motion planning solution: {e}") + res = -1 + + if res == -1: + success = False + failed_motion_plans += 1 + else: + success = res[-1]["success"].item() + elapsed_steps = res[-1]["elapsed_steps"].item() + solution_episode_lengths.append(elapsed_steps) + successes.append(success) + if args.only_count_success and not success: + seed += 1 + env.flush_trajectory(save=False) + if args.save_video: + env.flush_video(save=False) + continue + else: + env.flush_trajectory() + if args.save_video: + env.flush_video() + pbar.update(1) + pbar.set_postfix( + dict( + success_rate=np.mean(successes), + failed_motion_plan_rate=failed_motion_plans / (seed + 1), + avg_episode_length=np.mean(solution_episode_lengths), + max_episode_length=np.max(solution_episode_lengths), + # min_episode_length=np.min(solution_episode_lengths) + ) + ) + seed += 1 + passed += 1 + if passed == args.num_traj: + break + env.close() + return output_h5_path + +def main(args): + if args.num_procs > 1 and args.num_procs < args.num_traj: + if args.num_traj < args.num_procs: + raise ValueError("Number of trajectories should be greater than or equal to number of processes") + args.num_traj = args.num_traj // args.num_procs + seeds = [*range(0, args.num_procs * args.num_traj, args.num_traj)] + pool = mp.Pool(args.num_procs) + proc_args = [(deepcopy(args), i, seeds[i]) for i in range(args.num_procs)] + res = pool.starmap(_main, proc_args) + pool.close() + # Merge trajectory files + output_path = res[0][: -len("0.h5")] + "h5" + print(f"Output path: {output_path}") + merge_trajectories(output_path, res) + for h5_path in res: + tqdm.write(f"Remove {h5_path}") + os.remove(h5_path) + json_path = h5_path.replace(".h5", ".json") + tqdm.write(f"Remove {json_path}") + os.remove(json_path) + else: + _main(args) + +if __name__ == "__main__": + # start = time.time() + mp.set_start_method("spawn") + main(parse_args()) + # print(f"Total time taken: {time.time() - start}") diff --git a/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/6d_pose/box.yaml b/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/6d_pose/box.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56fbd208f6daf4ba689e22dac76ae6b1068db0ea --- /dev/null +++ b/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/6d_pose/box.yaml @@ -0,0 +1,13 @@ +objects: + - name: box + visual: + path: object/box_01/box_01.gltf # textured mesh + collision: + path: object/box_01/box_01.gltf.coacd.ply # physics mesh + scale: [1.0, 1.0, 1.0] + pose: + position: [0.5, 0, 1.4] + quaternion: [0, 0, 0, 1] + static: false + + diff --git a/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/base_configs/base_shelf.yaml b/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/base_configs/base_shelf.yaml new file mode 100644 index 0000000000000000000000000000000000000000..53b5d1d2885a0d8881410949b56d755d00bc54e6 --- /dev/null +++ b/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/base_configs/base_shelf.yaml @@ -0,0 +1,234 @@ +objects: + - name: table + visual: + path: object/table/desktable.glb + collision: + path: "object/table/desktable.obj" # same as visual in this case + scale: [2.0, 1.0, 1.5] + pose: + position: [0.4, 0.5, -0.75] + quaternion: [0, 0, 0.7071068, 0.7071068] + - name: rack + visual: + path: object/storage_rack_02/storage_rack_02.gltf + collision: + path: "object/storage_rack_02/rack_convex/" + scale: [0.4, 1.1, 1.0] + pose: + position: [0.4, -0.6, -1.0] + quaternion: [0.5, 0.5, 0.5, 0.5] + - name: rubiks_cube + collision: + path: object/077_rubiks_cube/collision.obj + pose: + position: + - 0.14450946420431137 + - 0.5571950328350067 + - 0.014685476198792458 + quaternion: + - 0 + - 1 + - 0 + - 0 + scale: 1.0 + visual: + path: object/077_rubiks_cube/textured.obj + static: false + - name: box_01 + collision: + path: object/box_01/box_01.gltf + pose: + position: + - 0.50032246899604797 + - 0.078459873199463 + - 0.07645902633667 + quaternion: + - 0.9999445676803589 + - -6.548361852765083e-11 + - 1.7932961782207713e-09 + - -0.010528113692998886 + scale: + - 0.2745678016356 + - 0.8521481829596 + - 0.654241940054395 + visual: + path: object/box_01/box_01.gltf + - name: box_02 + collision: + path: object/box_01/box_01.gltf + pose: + position: + - 0.50032246899604797 + - 0.38459873199463 + - 0.07645902633667 + quaternion: + - 0.94 + - -6.548361852765083e-11 + - 0.3 + - 0.14 + scale: + - 0.4745678016356 + - 0.71481829596 + - 0.654241940054395 + visual: + path: object/box_01/box_01.gltf + - name: padlock + collision: + path: object/038_padlock/collision.obj + pose: + position: + - 0.6944249868392944 + - 0.3147050440311432 + - 0.0003734661149792373 + quaternion: + - 0.9922793507575989 + - 4.655681550502777e-06 + - -1.5650875866413116e-06 + - 0.12402468919754028 + scale: 1.0 + visual: + path: object/038_padlock/textured.obj + - name: tomato_soup_can + collision: + path: object/005_tomato_soup_can/collision.obj + pose: + position: + - 0.4555251896381378 + - 0.380601954460144 + - 0.04085641726851463 + quaternion: + - 0.9875848889350891 + - -0.02464265190064907 + - 0.07233476638793945 + - -0.1372469812631607 + scale: 1.0 + visual: + path: object/005_tomato_soup_can/textured.obj + - name: racquetball + collision: + path: object/057_racquetball/collision.obj + pose: + position: + - 0.5186593532562256 + - 0.44827374815940857 + - 0.013361339457333088 + quaternion: + - 0.9883742928504944 + - 0.0469806045293808 + - -0.08541333675384521 + - -0.1166778951883316 + scale: 1.0 + visual: + path: object/057_racquetball/textured.obj + - name: softball + collision: + path: object/054_softball/collision.obj + pose: + position: + - 0.6148202419281006 + - -0.05641360953450203 + - 0.03259033337235451 + quaternion: + - 0.7703536152839661 + - -0.009078606963157654 + - -0.023455988615751266 + - -0.63712078332901 + scale: 1.0 + visual: + path: object/054_softball/textured.obj + - name: gelatin_box + collision: + path: object/009_gelatin_box/collision.obj + pose: + position: + - 0.5861918330192566 + - -0.45401638746261597 + - 0.1509575988515280187 + quaternion: + - 0.9956064820289612 + - 5.738096660934389e-06 + - -4.77033609058708e-07 + - 0.09363655000925064 + scale: 1.0 + visual: + path: object/009_gelatin_box/textured.obj + - name: banana + collision: + path: object/011_banana/collision.obj + pose: + position: + - 0.6051251888275146 + - 0.3205883204936981 + - 0.008145654574036598 + quaternion: + - 0.9921995401382446 + - 0.005969599820673466 + - 0.10432666540145874 + - 0.06797301024198532 + scale: 1.0 + visual: + path: object/011_banana/textured.obj + - name: phillips_screwdriver + collision: + path: object/043_phillips_screwdriver/collision.obj + pose: + position: + - 0.32418179512023926 + - 0.2760469913482666 + - 0.0011561671271920204 + quaternion: + - 0.4143228828907013 + - 0.5461945533752441 + - 0.5607602596282959 + - 0.4642801284790039 + scale: 1.0 + visual: + path: object/043_phillips_screwdriver/textured.obj + - name: lego_duplo + collision: + path: object/073-a_lego_duplo/collision.obj + pose: + position: + - 0.20800727605819702 + - 0.39792412519454956 + - 0.0082908236980438 + quaternion: + - 0.9950247406959534 + - -0.00427208561450243 + - 0.004261598456650972 + - -0.09944649040699005 + scale: 1.0 + visual: + path: object/073-a_lego_duplo/textured.obj + - name: mustard_bottle + collision: + path: object/006_mustard_bottle/collision.obj + pose: + position: + - 0.20465308278799057 + - -0.568162727355957 + - 0.209444954395294 + quaternion: + - 0.9993992447853088 + - -0.003415777813643217 + - 8.481905388180166e-05 + - -0.03448720648884773 + scale: 1.0 + visual: + path: object/006_mustard_bottle/textured.obj + - name: master_chef_can + collision: + path: object/002_master_chef_can/collision.obj + pose: + position: + - 0.7092649364471436 + - -0.4489493131637573 + - 0.2046752193570137 + quaternion: + - 0.996325671672821 + - 6.102214683778584e-06 + - 5.3836265578866e-07 + - -0.0856466069817543 + scale: 1.0 + visual: + path: object/002_master_chef_can/textured.obj \ No newline at end of file diff --git a/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/base_configs/base_table.yaml b/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/base_configs/base_table.yaml new file mode 100644 index 0000000000000000000000000000000000000000..631d8fc07ee3b36e43d9df2e14aee15dd46e4fd4 --- /dev/null +++ b/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/base_configs/base_table.yaml @@ -0,0 +1,51 @@ +objects: + - name: table + visual: + path: table/table.glb + collision: + path: "table/table.glb" # same as visual in this case + scale: + - 2.5 + - 0.8 + - 1.75 + pose: + position: [0.495, 0, -0.9196] + quaternion: [0.707107, 0, 0, 0.707107] + # - name: box_01 + # collision: + # path: object/box_01/box_01.gltf + # pose: + # position: + # - 0.50032246899604797 + # - -0.2459873199463 + # - 0.07645902633667 + # quaternion: + # - 0.9999445676803589 + # - -6.548361852765083e-11 + # - 1.7932961782207713e-09 + # - -0.010528113692998886 + # scale: + # - 0.2745678016356 + # - 0.8521481829596 + # - 0.654241940054395 + # visual: + # path: object/box_01/box_01.gltf + # - name: box_02 + # collision: + # path: object/box_01/box_01.gltf + # pose: + # position: + # - 0.50032246899604797 + # - 0.0459873199463 + # - 0.07645902633667 + # quaternion: + # - 0.94 + # - -6.548361852765083e-11 + # - 0.3 + # - 0.14 + # scale: + # - 0.4745678016356 + # - 0.71481829596 + # - 0.654241940054395 + # visual: + # path: object/box_01/box_01.gltf \ No newline at end of file diff --git a/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/base_configs/base_table_shelf.yaml b/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/base_configs/base_table_shelf.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c1dd0490e01877bd04d62fe60d0df86734e39cc3 --- /dev/null +++ b/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/base_configs/base_table_shelf.yaml @@ -0,0 +1,249 @@ +objects: + - name: table + visual: + path: table/table.glb + collision: + path: "table/table.glb" # same as visual in this case + scale: + - 2.5 + - 0.8 + - 1.75 + pose: + # position: [0.495, 0, -0.9196] + # Origin of table is at its center on the base + position: [0.495, 0.4539, -0.9196] + quaternion: [0.707107, 0, 0, 0.707107] + - name: shelf + visual: { path: object/storage_rack_02/storage_rack_02.gltf } # pretty render + collision: { path: object/storage_rack_02/rack_convex/ } # dir of convex .obj pieces + scale: [1.0, 1.0, 1.0] + pose: + position: [0.52, -0.97, -0.546] # adjust to avoid overlap + quaternion: [0.707107, 0.707107, 0, 0] + static: true + # - name: box + # visual: + # path: object/box_01/box_01.gltf # textured mesh + # collision: + # path: object/box_01/box_01.gltf.coacd.ply # physics mesh + # scale: [1.0, 1.0, 1.0] + # pose: + # position: [0.5, 0, 1.4] + # quaternion: [0, 0, 0, 1] + # static: false + # - name: box_01 + # collision: + # path: object/box_01/box_01.gltf + # pose: + # position: + # - 0.3774278163909912 + # - 0.15504807233810425 + # - 0.19764657318592072 + # quaternion: + # - 0.969598114490509 + # - -4.656612873077393e-10 + # - 2.730189407884609e-10 + # - 0.24470341205596924 + # scale: + # - 0.43156745678016356 + # - 0.4938321481829596 + # - 1.0544241940054395 + # visual: + # path: object/box_01/box_01.gltf + # - name: box_02 + # collision: + # path: object/box_01/box_01.gltf + # pose: + # position: + # - 0.4052497982978821 + # - -0.13144567489624 + # - 0.052995699048042297 + # quaternion: + # - 0.9914971590042114 + # - 0.0 + # - 2.3164830054156482e-09 + # - 0.1301281750202179 + # scale: + # - 0.40738405359814406 + # - 0.5761527279656022 + # - 0.6079754719214234 + # visual: + # path: object/box_01/box_01.gltf + # - name: large_clamp + # collision: + # path: object/051_large_clamp/collision.obj + # pose: + # position: + # - 0.19312594830989838 + # - 0.17197082936763763 + # - 0.029057051986455917 + # quaternion: + # - 0.8297101855278015 + # - 0.19336088001728058 + # - -0.5048506855964661 + # - 0.1389913260936737 + # scale: 1.0 + # visual: + # path: object/051_large_clamp/textured.obj + # - name: knife + # collision: + # path: object/032_knife/collision.obj + # pose: + # position: + # - 0.2283671647310257 + # - 0.3517729341983795 + # - -0.006701649632304907 + # quaternion: + # - 0.8438051342964172 + # - -0.04858214035630226 + # - 0.031701769679784775 + # - -0.5335052609443665 + # scale: 1.0 + # visual: + # path: object/032_knife/textured.obj + # - name: padlock + # collision: + # path: object/038_padlock/collision.obj + # pose: + # position: + # - 0.3319680690765381 + # - -0.2792530655860901 + # - 0.0005464808782562613 + # quaternion: + # - 0.7134552597999573 + # - 0.01860017329454422 + # - 0.021510019898414612 + # - -0.7001236081123352 + # scale: 1.0 + # visual: + # path: object/038_padlock/textured.obj + # - name: tomato_soup_can + # collision: + # path: object/005_tomato_soup_can/collision.obj + # pose: + # position: + # - 0.6946893334388733 + # - -0.38228562474250793 + # - 0.036741361021995544 + # quaternion: + # - 0.9816651344299316 + # - 0.004714302718639374 + # - 0.00044257473200559616 + # - 0.19055522978305817 + # scale: 1.0 + # visual: + # path: object/005_tomato_soup_can/textured.obj + # # - name: racquetball + # # collision: + # # path: object/057_racquetball/collision.obj + # # pose: + # # position: + # # - 0.45462721586227417 + # # - 0.1650673896074295 + # # - 0.013247544877231121 + # # quaternion: + # # - -0.4646683633327484 + # # - -0.5041186809539795 + # # - -0.6878058314323425 + # # - 0.23847657442092896 + # # scale: 1.0 + # # visual: + # # path: object/057_racquetball/textured.obj + # - name: softball + # collision: + # path: object/054_softball/collision.obj + # pose: + # position: + # - 0.6640998125076294 + # - 0.3451000452041626 + # - 0.03259274363517761 + # quaternion: + # - 0.9386423230171204 + # - -0.0007454082369804382 + # - -0.025141535326838493 + # - -0.34397396445274353 + # scale: 1.0 + # visual: + # path: object/054_softball/textured.obj + # - name: gelatin_box + # collision: + # path: object/009_gelatin_box/collision.obj + # pose: + # position: + # - 0.6452363729476929 + # - -0.17284779250621796 + # - 0.022573139518499374 + # quaternion: + # - -0.1667574942111969 + # - -0.6976722478866577 + # - 0.15738166868686676 + # - -0.6787314414978027 + # scale: 1.0 + # visual: + # path: object/009_gelatin_box/textured.obj + # - name: banana + # collision: + # path: object/011_banana/collision.obj + # pose: + # position: + # - 0.3253401517868042 + # - -0.3004571199417114 + # - 0.019442832097411156 + # quaternion: + # - -0.6630287766456604 + # - -0.010747894644737244 + # - -0.748435914516449 + # - 0.010997258126735687 + # scale: 1.0 + # visual: + # path: object/011_banana/textured.obj + # - name: phillips_screwdriver + # collision: + # path: object/043_phillips_screwdriver/collision.obj + # pose: + # position: + # - 0.39992326498031616 + # - 0.06679438799619675 + # - 0.0006463949102908373 + # quaternion: + # - 0.2218715399503708 + # - 0.06357607990503311 + # - 0.1646103709936142 + # - 0.9589757323265076 + # scale: 1.0 + # visual: + # path: object/043_phillips_screwdriver/textured.obj + # - name: mustard_bottle + # collision: + # path: object/006_mustard_bottle/collision.obj + # pose: + # position: + # - 0.3090461790561676 + # - -0.021750224754214287 + # - 0.015709737315773964 + # quaternion: + # - 0.7069332599639893 + # - -0.7067934274673462 + # - -0.019828010350465775 + # - 0.017183499410748482 + # scale: 1.0 + # visual: + # path: object/006_mustard_bottle/textured.obj + # - name: master_chef_can + # collision: + # path: object/002_master_chef_can/collision.obj + # pose: + # position: + # - 0.5749792456626892 + # - -0.33053281903266907 + # - 0.05646781250834465 + # quaternion: + # - 0.7254650592803955 + # - 4.773290129378438e-06 + # - 4.065892426297069e-06 + # - -0.6882590651512146 + # scale: 1.0 + # visual: + # path: object/002_master_chef_can/textured.obj + + diff --git a/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/concept_env_config/concept_scene.yaml b/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/concept_env_config/concept_scene.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b81a2e6ab62fe9b5d05d242b3c810ab5c7fcd72e --- /dev/null +++ b/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/concept_env_config/concept_scene.yaml @@ -0,0 +1,138 @@ +objects: +- name: table + visual: + path: object/table/desktable.glb + collision: + path: "object/table/desktable.obj" # same as visual in this case + scale: [2.0, 1.0, 1.5] + pose: + position: [0.4, 0, -0.75] + quaternion: [0, 0, 0.7071068, 0.7071068] +# - collision: +# path: object/002_master_chef_can/collision.obj +# name: master_chef_can +# pose: +# position: +# - 0.3 +# - 0.3 +# - 0.03778086602687836 +# quaternion: +# - 1.0 +# - 0.0 +# - 0.0 +# - 0.0 +# scale: [0.8, 0.8, 3.0] +# visual: +# path: object/002_master_chef_can/textured.obj +- collision: + path: object/002_master_chef_can/collision.obj + name: master_chef_can + pose: + position: + - 0.45 + - 0.35 + - 0.03778086602687836 + quaternion: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + scale: [0.8, 0.8, 3.0] + visual: + path: object/002_master_chef_can/textured.obj +- collision: + path: object/002_master_chef_can/collision.obj + name: master_chef_can + pose: + position: + - 0.3 + - 0.0 + - 0.03778086602687836 + quaternion: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + scale: [0.8, 0.8, 3.0] + visual: + path: object/002_master_chef_can/textured.obj +- collision: + path: object/002_master_chef_can/collision.obj + name: master_chef_can + pose: + position: + - 0.6 + - 0.0 + - 0.03778086602687836 + quaternion: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + scale: [0.8, 0.8, 3.0] + visual: + path: object/002_master_chef_can/textured.obj +- collision: + path: object/002_master_chef_can/collision.obj + name: master_chef_can + pose: + position: + - 0.15 + - -0.35 + - 0.03778086602687836 + quaternion: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + scale: [0.8, 0.8, 3.0] + visual: + path: object/002_master_chef_can/textured.obj +- collision: + path: object/002_master_chef_can/collision.obj + name: master_chef_can + pose: + position: + - 0.45 + - -0.35 + - 0.03778086602687836 + quaternion: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + scale: [0.8, 0.8, 3.0] + visual: + path: object/002_master_chef_can/textured.obj +- collision: + path: object/002_master_chef_can/collision.obj + name: master_chef_can + pose: + position: + - 0.75 + - -0.35 + - 0.03778086602687836 + quaternion: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + scale: [0.8, 0.8, 3.0] + visual: + path: object/002_master_chef_can/textured.obj +# - collision: +# path: object/002_master_chef_can/collision.obj +# name: master_chef_can +# pose: +# position: +# - 0.10621007531881332 +# - 0.058793894946575165 +# - 0.03778086602687836 +# quaternion: +# - -0.36926770210266113 +# - -0.13735902309417725 +# - -0.6931450366973877 +# - 0.603592574596405 +# scale: 1.0 +# visual: +# path: object/002_master_chef_can/textured.obj diff --git a/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/concept_env_config/concept_scene_simple.yaml.bk b/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/concept_env_config/concept_scene_simple.yaml.bk new file mode 100644 index 0000000000000000000000000000000000000000..b0cb22f0c81250e311896fd852bf401f90ae7871 --- /dev/null +++ b/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/concept_env_config/concept_scene_simple.yaml.bk @@ -0,0 +1,138 @@ +objects: +- name: table + visual: + path: object/table/desktable.glb + collision: + path: "object/table/desktable.obj" # same as visual in this case + scale: [2.0, 1.0, 1.5] + pose: + position: [0.4, 0, -0.75] + quaternion: [0, 0, 0.7071068, 0.7071068] +- collision: + path: object/002_master_chef_can/collision.obj + name: master_chef_can + pose: + position: + - 0.3 + - 0.3 + - 0.03778086602687836 + quaternion: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + scale: [0.8, 0.8, 3.0] + visual: + path: object/002_master_chef_can/textured.obj +- collision: + path: object/002_master_chef_can/collision.obj + name: master_chef_can + pose: + position: + - 0.7 + - 0.3 + - 0.03778086602687836 + quaternion: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + scale: [0.8, 0.8, 3.0] + visual: + path: object/002_master_chef_can/textured.obj +# - collision: +# path: object/002_master_chef_can/collision.obj +# name: master_chef_can +# pose: +# position: +# - 0.25 +# - 0.0 +# - 0.03778086602687836 +# quaternion: +# - 1.0 +# - 0.0 +# - 0.0 +# - 0.0 +# scale: [0.8, 0.8, 3.0] +# visual: + path: object/002_master_chef_can/textured.obj +- collision: + path: object/002_master_chef_can/collision.obj + name: master_chef_can + pose: + position: + - 0.5 + - 0.0 + - 0.03778086602687836 + quaternion: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + scale: [0.8, 0.8, 3.0] + visual: + path: object/002_master_chef_can/textured.obj +# - collision: +# path: object/002_master_chef_can/collision.obj +# name: master_chef_can +# pose: +# position: +# - 0.85 +# - 0.0 +# - 0.03778086602687836 +# quaternion: +# - 1.0 +# - 0.0 +# - 0.0 +# - 0.0 +# scale: [0.8, 0.8, 3.0] +# visual: +# path: object/002_master_chef_can/textured.obj +- collision: + path: object/002_master_chef_can/collision.obj + name: master_chef_can + pose: + position: + - 0.3 + - -0.3 + - 0.03778086602687836 + quaternion: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + scale: [0.8, 0.8, 3.0] + visual: + path: object/002_master_chef_can/textured.obj +- collision: + path: object/002_master_chef_can/collision.obj + name: master_chef_can + pose: + position: + - 0.7 + - -0.3 + - 0.03778086602687836 + quaternion: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + scale: [0.8, 0.8, 3.0] + visual: + path: object/002_master_chef_can/textured.obj +# - collision: +# path: object/002_master_chef_can/collision.obj +# name: master_chef_can +# pose: +# position: +# - 0.10621007531881332 +# - 0.058793894946575165 +# - 0.03778086602687836 +# quaternion: +# - -0.36926770210266113 +# - -0.13735902309417725 +# - -0.6931450366973877 +# - 0.603592574596405 +# scale: 1.0 +# visual: +# path: object/002_master_chef_can/textured.obj diff --git a/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/distractor25/0_scene_config.yaml b/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/distractor25/0_scene_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..54bef7b131acb88ba9092a64c0f5530e470e9aae --- /dev/null +++ b/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/distractor25/0_scene_config.yaml @@ -0,0 +1,420 @@ +objects: +- collision: + path: object/table/desktable.obj + name: table + pose: + position: + - 0.4000000059604645 + - 0.0 + - -0.75 + quaternion: + - 0.0 + - 0.0 + - 0.7071068286895752 + - 0.7071068286895752 + scale: + - 2.0 + - 1.0 + - 1.5 + visual: + path: object/table/desktable.glb +- collision: + path: object/051_large_clamp/collision.obj + name: large_clamp + pose: + position: + - 0.36541110277175903 + - 0.0526905432343483 + - 0.004931399133056402 + quaternion: + - 0.7174215316772461 + - 0.012281900271773338 + - 0.011798243969678879 + - 0.6964309811592102 + scale: 1.0 + visual: + path: object/051_large_clamp/textured.obj +- collision: + path: object/032_knife/collision.obj + name: knife + pose: + position: + - 0.550041139125824 + - -0.0948980525135994 + - -0.006703108549118042 + quaternion: + - 0.9572262167930603 + - -0.05585232004523277 + - -0.015676258131861687 + - 0.28346556425094604 + scale: 1.0 + visual: + path: object/032_knife/textured.obj +- collision: + path: object/038_padlock/collision.obj + name: padlock + pose: + position: + - 0.25958776473999023 + - -0.08350930362939835 + - 0.00036981969606131315 + quaternion: + - 0.9776949882507324 + - 1.7406418919563293e-06 + - -3.0247028917074203e-06 + - 0.21003015339374542 + scale: 1.0 + visual: + path: object/038_padlock/textured.obj +- collision: + path: object/005_tomato_soup_can/collision.obj + name: tomato_soup_can + pose: + position: + - 0.163401797413826 + - -0.0686124935746193 + - 0.01957145892083645 + quaternion: + - -0.3291792869567871 + - -0.2468573898077011 + - 0.6602919697761536 + - 0.6282651424407959 + scale: 1.0 + visual: + path: object/005_tomato_soup_can/textured.obj +- collision: + path: object/057_racquetball/collision.obj + name: racquetball + pose: + position: + - 0.25490057468414307 + - 0.3053525388240814 + - 0.013537317514419556 + quaternion: + - -0.0017459652153775096 + - -0.6932870149612427 + - 0.5431934595108032 + - 0.47359389066696167 + scale: 1.0 + visual: + path: object/057_racquetball/textured.obj +- collision: + path: object/054_softball/collision.obj + name: softball + pose: + position: + - 0.2856215238571167 + - -0.4196152687072754 + - 0.032593049108982086 + quaternion: + - 0.8318781852722168 + - -0.006615795195102692 + - -0.0242600254714489 + - -0.5543883442878723 + scale: 1.0 + visual: + path: object/054_softball/textured.obj +- collision: + path: object/009_gelatin_box/collision.obj + name: gelatin_box + pose: + position: + - 0.5751332640647888 + - -0.2604824900627136 + - 0.0009598815813660622 + quaternion: + - 0.9993727207183838 + - 4.523510142462328e-06 + - 4.962967068422586e-07 + - -0.03541725501418114 + scale: 1.0 + visual: + path: object/009_gelatin_box/textured.obj +- collision: + path: object/011_banana/collision.obj + name: banana + pose: + position: + - 0.4536250829696655 + - -0.2676642835140228 + - 0.011376842856407166 + quaternion: + - 0.8929149508476257 + - -0.05363914743065834 + - -0.22373022139072418 + - -0.38700175285339355 + scale: 1.0 + visual: + path: object/011_banana/textured.obj +- collision: + path: object/043_phillips_screwdriver/collision.obj + name: phillips_screwdriver + pose: + position: + - 0.6984311938285828 + - 0.2712348699569702 + - 0.00016344524919986725 + quaternion: + - 0.7602522373199463 + - 0.01645047217607498 + - -0.04905638471245766 + - -0.6475642919540405 + scale: 1.0 + visual: + path: object/043_phillips_screwdriver/textured.obj +- collision: + path: object/073-a_lego_duplo/collision.obj + name: lego_duplo + pose: + position: + - 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0.5429124236106873 + - -0.14457252621650696 + - 0.41645941138267517 + quaternion: + - 0.796488881111145 + - 0.014206331223249435 + - 0.00346792652271688 + - 0.6044765710830688 + scale: 1.0 + visual: + path: object/026_sponge/textured.obj +- collision: + path: object/007_tuna_fish_can/collision.obj + name: tuna_fish_can + pose: + position: + - 0.3749924302101135 + - 0.11125041544437408 + - 0.0028014269191771746 + quaternion: + - 0.8172983527183533 + - 0.00019792982493527234 + - 0.002636911813169718 + - -0.576208770275116 + scale: 1.0 + visual: + path: object/007_tuna_fish_can/textured.obj +- collision: + path: object/017_orange/collision.obj + name: orange + pose: + position: + - 0.6543641686439514 + - -0.37677356600761414 + - 0.02169855497777462 + quaternion: + - -0.597984790802002 + - 0.7990133166313171 + - -0.05563202500343323 + - 0.0299513041973114 + scale: 1.0 + visual: + path: object/017_orange/textured.obj +- collision: + path: object/033_spatula/collision.obj + name: spatula + pose: + position: + - 0.2824774384498596 + - 0.44265902042388916 + - 0.28184229135513306 + quaternion: + - 0.6796973943710327 + - 0.049266424030065536 + - 0.1382976770401001 + - 0.7186502814292908 + scale: 1.0 + visual: + path: object/033_spatula/textured.obj +- collision: + path: object/077_rubiks_cube/collision.obj + name: rubiks_cube + pose: + position: + - 0.26064231991767883 + - 0.02647990547120571 + - 0.01468384638428688 + quaternion: + - 0.9882527589797974 + - -0.0018261466175317764 + - 0.0020504463464021683 + - -0.15280383825302124 + scale: 1.0 + visual: + path: object/077_rubiks_cube/textured.obj +- collision: + path: object/004_sugar_box/collision.obj + name: sugar_box + pose: + position: + - 0.36528176069259644 + - -0.05240865796804428 + - 0.0736711248755455 + quaternion: + - 0.7730744481086731 + - 0.0031613814644515514 + - -0.011965674348175526 + - 0.6341947913169861 + scale: 1.0 + visual: + path: object/004_sugar_box/textured.obj +- collision: + path: object/003_cracker_box/collision.obj + name: cracker_box + pose: + position: + - 0.10720620304346085 + - -0.1886296272277832 + - 0.04461628198623657 + quaternion: + - -0.6193708181381226 + - 0.14368760585784912 + - 0.7057703137397766 + - 0.3124452531337738 + scale: 1.0 + visual: + path: object/003_cracker_box/textured.obj diff --git a/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/distractorbox/4_scene_config.yaml b/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/distractorbox/4_scene_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..547fef6282adaf5734276b37e9c2fbbd232742c4 --- /dev/null +++ b/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/distractorbox/4_scene_config.yaml @@ -0,0 +1,458 @@ +objects: +- collision: + path: object/table/desktable.obj + name: table + pose: + position: + - 0.4000000059604645 + - 0.0 + - -0.75 + quaternion: + - 0.0 + - 0.0 + - 0.7071068286895752 + - 0.7071068286895752 + scale: + - 2.0 + - 1.0 + - 1.5 + visual: + path: object/table/desktable.glb +- collision: + path: object/box_01/box_01.gltf + name: box_01 + pose: + position: + - 0.4312953054904938 + - -0.43116745352745056 + - 0.19764474034309387 + quaternion: + - 0.9991750717163086 + - -8.731149137020111e-11 + - 1.2839791452279314e-09 + - 0.04061293229460716 + scale: + - 0.43156745678016356 + - 0.4938321481829596 + - 1.0544241940054395 + visual: + path: object/box_01/box_01.gltf +- collision: + path: object/box_01/box_01.gltf + name: box_02 + pose: + position: + - 0.489237904548645 + - -0.12007361650466919 + - 0.12995831668376923 + quaternion: + - 0.955585777759552 + - -2.7939677238464355e-09 + - 2.6830093702301383e-10 + - 0.29471340775489807 + scale: + - 0.40738405359814406 + - 0.5761527279656022 + - 0.7179754719214234 + visual: + path: object/box_01/box_01.gltf +- collision: + path: object/051_large_clamp/collision.obj + name: large_clamp + pose: + position: + - 0.12321417033672333 + - -0.13673710823059082 + - 0.004790876060724258 + quaternion: + - 0.0032604101579636335 + - 0.0009156257729046047 + - 0.9999901056289673 + - 0.0028987331315875053 + scale: 1.0 + visual: + path: object/051_large_clamp/textured.obj +- collision: + path: object/032_knife/collision.obj + name: knife + pose: + position: + - 0.31746214628219604 + - -0.39731141924858093 + - 0.41245076060295105 + quaternion: + - 0.7151638865470886 + - -0.1431402713060379 + - -0.1410522311925888 + - 0.6694445013999939 + scale: 1.0 + visual: + path: object/032_knife/textured.obj +- collision: + path: object/038_padlock/collision.obj + name: padlock + pose: + position: + - 0.6392311453819275 + - -0.4420950710773468 + - 0.0003735672798939049 + quaternion: + - 0.9791507720947266 + - 4.549045115709305e-06 + - 2.2013846319168806e-06 + - -0.20313504338264465 + scale: 1.0 + visual: + path: object/038_padlock/textured.obj +- collision: + path: object/005_tomato_soup_can/collision.obj + name: tomato_soup_can + pose: + position: + - 0.5998260974884033 + - 0.33385875821113586 + - 0.03663034737110138 + quaternion: + - 0.9944955706596375 + - 0.0025594509206712246 + - -0.0032890706788748503 + - 0.10469654947519302 + scale: 1.0 + visual: + path: object/005_tomato_soup_can/textured.obj +- collision: + path: object/057_racquetball/collision.obj + name: racquetball + pose: + position: + - 0.34526851773262024 + - 0.16078561544418335 + - 0.013536724261939526 + quaternion: + - -0.30910152196884155 + - 0.1675548255443573 + - -0.8646567463874817 + - -0.3588181138038635 + scale: 1.0 + visual: + path: object/057_racquetball/textured.obj +- collision: + path: object/054_softball/collision.obj + name: softball + pose: + position: + - 0.11597347259521484 + - 0.26845914125442505 + - 0.032590534538030624 + quaternion: + - 0.8344063758850098 + - 0.019776731729507446 + - -0.015543600544333458 + - 0.5505756139755249 + scale: 1.0 + visual: + path: object/054_softball/textured.obj +- collision: + path: object/009_gelatin_box/collision.obj + name: gelatin_box + pose: + position: + - 0.09927041083574295 + - -0.4313623011112213 + - 0.0009578167810104787 + quaternion: + - 0.999981164932251 + - 5.721164598071482e-06 + - -5.507990863407031e-07 + - 0.006151495035737753 + scale: 1.0 + visual: + path: object/009_gelatin_box/textured.obj +- collision: + path: object/011_banana/collision.obj + name: banana + pose: + position: + - 0.5286203622817993 + - 0.21649675071239471 + - 0.0008434478659182787 + quaternion: + - -0.1005372703075409 + - 0.8471364974975586 + - -0.5006954073905945 + - -0.1468202918767929 + scale: 1.0 + visual: + path: object/011_banana/textured.obj +- collision: + path: object/043_phillips_screwdriver/collision.obj + name: phillips_screwdriver + pose: + position: + - 0.44696471095085144 + - -0.4313381016254425 + - 0.4192771315574646 + quaternion: + - -0.9689446091651917 + - -0.22481660544872284 + - -0.01582440920174122 + - -0.10175149142742157 + scale: 1.0 + visual: + path: object/043_phillips_screwdriver/textured.obj +- collision: + path: object/073-a_lego_duplo/collision.obj + name: lego_duplo + pose: + position: + - 0.199663445353508 + - -0.4242056608200073 + - -0.001960119931027293 + quaternion: + - 0.7901376485824585 + - 5.825655534863472e-06 + - -3.612556611187756e-06 + - 0.6129295229911804 + scale: 1.0 + visual: + path: object/073-a_lego_duplo/textured.obj +- collision: + path: object/006_mustard_bottle/collision.obj + name: mustard_bottle + pose: + position: + - 0.422761470079422 + - 0.38673779368400574 + - 0.08319307863712311 + quaternion: + - 0.836787223815918 + - -0.0028773415833711624 + - 0.001846864353865385 + - -0.5475176572799683 + scale: 1.0 + visual: + path: object/006_mustard_bottle/textured.obj +- collision: + path: object/002_master_chef_can/collision.obj + name: master_chef_can + pose: + position: + - 0.4255683720111847 + - -0.24841554462909698 + - 0.056804489344358444 + quaternion: + - 0.8844170570373535 + - -0.0033931084908545017 + - -0.0014024265110492706 + - 0.466683030128479 + scale: 1.0 + visual: + path: object/002_master_chef_can/textured.obj +- collision: + path: object/036_wood_block/collision.obj + name: wood_block + pose: + position: + - 0.23751328885555267 + - 0.35916176438331604 + - 0.09017261862754822 + quaternion: + - 0.9799420833587646 + - 0.0030022147111594677 + - -0.0026620218995958567 + - 0.19924314320087433 + scale: 1.0 + visual: + path: object/036_wood_block/textured.obj +- collision: + path: object/012_strawberry/collision.obj + name: strawberry + pose: + position: + - 0.6011720299720764 + - -0.13310734927654266 + - 0.007149809505790472 + quaternion: + - -0.3197649121284485 + - 0.5678185820579529 + - -0.6778645515441895 + - -0.34034162759780884 + scale: 1.0 + visual: + path: object/012_strawberry/textured.obj +- collision: + path: object/072-c_toy_airplane/collision.obj + name: toy_airplane + pose: + position: + - 0.6662967801094055 + - -0.312533974647522 + - 0.019502148032188416 + quaternion: + - 0.9987238049507141 + - 6.626147751376266e-06 + - -6.52148446533829e-06 + - 0.0505061149597168 + scale: 1.0 + visual: + path: object/072-c_toy_airplane/textured.obj +- collision: + path: object/015_peach/collision.obj + name: peach + pose: + position: + - 0.6792287826538086 + - -0.23226767778396606 + - 0.014315585605800152 + quaternion: + - 0.8545659184455872 + - 0.11419133841991425 + - -0.213189497590065 + - 0.4595949649810791 + scale: 1.0 + visual: + path: object/015_peach/textured.obj +- collision: + path: object/014_lemon/collision.obj + name: lemon + pose: + position: + - 0.6656623482704163 + - 0.030638452619314194 + - 0.012236598879098892 + quaternion: + - 0.8801739811897278 + - 5.115196108818054e-05 + - -3.063678741455078e-05 + - -0.47465139627456665 + scale: 1.0 + visual: + path: object/014_lemon/textured.obj +- collision: + path: object/055_baseball/collision.obj + name: baseball + pose: + position: + - 0.18471989035606384 + - 0.10822276026010513 + - 0.02190595492720604 + quaternion: + - 0.7727699279785156 + - -0.03382810577750206 + - 0.0009373538196086884 + - 0.6337834000587463 + scale: 1.0 + visual: + path: object/055_baseball/textured.obj +- collision: + path: object/026_sponge/collision.obj + name: sponge + pose: + position: + - 0.5111678838729858 + - 0.4582820534706116 + - -0.004403641447424889 + quaternion: + - 0.9998944401741028 + - 0.008722223341464996 + - -0.009730009362101555 + - -0.006374211050570011 + scale: 1.0 + visual: + path: object/026_sponge/textured.obj +- collision: + path: object/007_tuna_fish_can/collision.obj + name: tuna_fish_can + pose: + position: + - 0.6754058003425598 + - -0.12460250407457352 + - 0.0028007221408188343 + quaternion: + - 0.9122334718704224 + - -0.002296455204486847 + - 0.0015977807343006134 + - 0.4096612334251404 + scale: 1.0 + visual: + path: object/007_tuna_fish_can/textured.obj +- collision: + path: object/017_orange/collision.obj + name: orange + pose: + position: + - 0.6354954838752747 + - 0.4526174068450928 + - 0.02165544405579567 + quaternion: + - 0.8161453008651733 + - 0.048613011837005615 + - -0.003769516944885254 + - -0.5757860541343689 + scale: 1.0 + visual: + path: object/017_orange/textured.obj +- collision: + path: object/033_spatula/collision.obj + name: spatula + pose: + position: + - 0.29002252221107483 + - 0.015886371955275536 + - 0.002662169747054577 + quaternion: + - -0.9836270213127136 + - -3.7698191590607166e-06 + - 1.7776183085516095e-06 + - -0.18021689355373383 + scale: 1.0 + visual: + path: object/033_spatula/textured.obj +- collision: + path: object/077_rubiks_cube/collision.obj + name: rubiks_cube + pose: + position: + - 0.2336031049489975 + - 0.21590453386306763 + - 0.014684840105473995 + quaternion: + - 0.907478928565979 + - -0.0011880174279212952 + - 0.0024773292243480682 + - -0.42008885741233826 + scale: 1.0 + visual: + path: object/077_rubiks_cube/textured.obj +- collision: + path: object/004_sugar_box/collision.obj + name: sugar_box + pose: + position: + - 0.19175802171230316 + - -0.3419383764266968 + - 0.07367560267448425 + quaternion: + - 0.8453016877174377 + - 0.0016670236364006996 + - -0.012264201417565346 + - 0.5341461300849915 + scale: 1.0 + visual: + path: object/004_sugar_box/textured.obj +- collision: + path: object/003_cracker_box/collision.obj + name: cracker_box + pose: + position: + - 0.44692370295524597 + - -0.35843729972839355 + - 0.4560203552246094 + quaternion: + - 0.6965742111206055 + - -0.15515920519828796 + - 0.698077380657196 + - -0.05829186365008354 + scale: 1.0 + visual: + path: object/003_cracker_box/textured.obj diff --git a/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/grasp_bowl/table_box.yaml b/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/grasp_bowl/table_box.yaml new file mode 100644 index 0000000000000000000000000000000000000000..10128fb4811d341eb5dc7e4f3348287e3dde6f0e --- /dev/null +++ b/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/grasp_bowl/table_box.yaml @@ -0,0 +1,229 @@ +objects: + - name: table + visual: + path: table/table.glb + collision: + path: "table/table.glb" # same as visual in this case + scale: + - 2.5 + - 0.8 + - 1.75 + pose: + position: [0.495, 0, -0.9196] + quaternion: [0.707107, 0, 0, 0.707107] + # - name: box_01 + # collision: + # path: object/box_01/box_01.gltf + # pose: + # position: + # - 0.3774278163909912 + # - 0.15504807233810425 + # - 0.19764657318592072 + # quaternion: + # - 0.969598114490509 + # - -4.656612873077393e-10 + # - 2.730189407884609e-10 + # - 0.24470341205596924 + # scale: + # - 0.43156745678016356 + # - 0.4938321481829596 + # - 1.0544241940054395 + # visual: + # path: object/box_01/box_01.gltf + - name: box_02 + collision: + path: object/box_01/box_01.gltf + pose: + position: + - 0.4052497982978821 + - -0.13144567489624 + - 0.052995699048042297 + quaternion: + - 0.9914971590042114 + - 0.0 + - 2.3164830054156482e-09 + - 0.1301281750202179 + scale: + - 0.40738405359814406 + - 0.5761527279656022 + - 0.6079754719214234 + visual: + path: object/box_01/box_01.gltf + - name: large_clamp + collision: + path: object/051_large_clamp/collision.obj + pose: + position: + - 0.19312594830989838 + - 0.17197082936763763 + - 0.029057051986455917 + quaternion: + - 0.8297101855278015 + - 0.19336088001728058 + - -0.5048506855964661 + - 0.1389913260936737 + scale: 1.0 + visual: + path: object/051_large_clamp/textured.obj + - name: knife + collision: + path: object/032_knife/collision.obj + pose: + position: + - 0.2283671647310257 + - 0.3517729341983795 + - -0.006701649632304907 + quaternion: + - 0.8438051342964172 + - -0.04858214035630226 + - 0.031701769679784775 + - -0.5335052609443665 + scale: 1.0 + visual: + path: object/032_knife/textured.obj + - name: padlock + collision: + path: object/038_padlock/collision.obj + pose: + position: + - 0.3319680690765381 + - -0.2792530655860901 + - 0.0005464808782562613 + quaternion: + - 0.7134552597999573 + - 0.01860017329454422 + - 0.021510019898414612 + - -0.7001236081123352 + scale: 1.0 + visual: + path: object/038_padlock/textured.obj + - name: tomato_soup_can + collision: + path: object/005_tomato_soup_can/collision.obj + pose: + position: + - 0.6946893334388733 + - -0.38228562474250793 + - 0.036741361021995544 + quaternion: + - 0.9816651344299316 + - 0.004714302718639374 + - 0.00044257473200559616 + - 0.19055522978305817 + scale: 1.0 + visual: + path: object/005_tomato_soup_can/textured.obj + # - name: racquetball + # collision: + # path: object/057_racquetball/collision.obj + # pose: + # position: + # - 0.45462721586227417 + # - 0.1650673896074295 + # - 0.013247544877231121 + # quaternion: + # - -0.4646683633327484 + # - -0.5041186809539795 + # - -0.6878058314323425 + # - 0.23847657442092896 + # scale: 1.0 + # visual: + # path: object/057_racquetball/textured.obj + - name: softball + collision: + path: object/054_softball/collision.obj + pose: + position: + - 0.6640998125076294 + - 0.3451000452041626 + - 0.03259274363517761 + quaternion: + - 0.9386423230171204 + - -0.0007454082369804382 + - -0.025141535326838493 + - -0.34397396445274353 + scale: 1.0 + visual: + path: object/054_softball/textured.obj + - name: gelatin_box + collision: + path: object/009_gelatin_box/collision.obj + pose: + position: + - 0.6452363729476929 + - -0.17284779250621796 + - 0.022573139518499374 + quaternion: + - -0.1667574942111969 + - -0.6976722478866577 + - 0.15738166868686676 + - -0.6787314414978027 + scale: 1.0 + visual: + path: object/009_gelatin_box/textured.obj + - name: banana + collision: + path: object/011_banana/collision.obj + pose: + position: + - 0.3253401517868042 + - -0.3004571199417114 + - 0.019442832097411156 + quaternion: + - -0.6630287766456604 + - -0.010747894644737244 + - -0.748435914516449 + - 0.010997258126735687 + scale: 1.0 + visual: + path: object/011_banana/textured.obj + - name: phillips_screwdriver + collision: + path: object/043_phillips_screwdriver/collision.obj + pose: + position: + - 0.39992326498031616 + - 0.06679438799619675 + - 0.0006463949102908373 + quaternion: + - 0.2218715399503708 + - 0.06357607990503311 + - 0.1646103709936142 + - 0.9589757323265076 + scale: 1.0 + visual: + path: object/043_phillips_screwdriver/textured.obj + - name: mustard_bottle + collision: + path: object/006_mustard_bottle/collision.obj + pose: + position: + - 0.3090461790561676 + - -0.021750224754214287 + - 0.015709737315773964 + quaternion: + - 0.7069332599639893 + - -0.7067934274673462 + - -0.019828010350465775 + - 0.017183499410748482 + scale: 1.0 + visual: + path: object/006_mustard_bottle/textured.obj + - name: master_chef_can + collision: + path: object/002_master_chef_can/collision.obj + pose: + position: + - 0.5749792456626892 + - -0.33053281903266907 + - 0.05646781250834465 + quaternion: + - 0.7254650592803955 + - 4.773290129378438e-06 + - 4.065892426297069e-06 + - -0.6882590651512146 + scale: 1.0 + visual: + path: object/002_master_chef_can/textured.obj + + diff --git a/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/shelf/base_scene_shelf.yaml b/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/shelf/base_scene_shelf.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7090b0af6aeb335b350cec1433730ad1aaf9dc7b --- /dev/null +++ b/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/shelf/base_scene_shelf.yaml @@ -0,0 +1,215 @@ +objects: + - name: table + visual: + path: object/table/desktable.glb + collision: + path: "object/table/desktable.obj" # same as visual in this case + scale: [2.0, 1.0, 1.5] + pose: + position: [0.4, 0.5, -0.75] + quaternion: [0, 0, 0.7071068, 0.7071068] + - name: rack + visual: + path: object/storage_rack_02/storage_rack_02.gltf + collision: + path: "object/storage_rack_02/rack_convex/" + scale: [0.4, 1.1, 1.0] + pose: + position: [0.4, -0.6, -1.0] + quaternion: [0.5, 0.5, 0.5, 0.5] + - name: rubiks_cube + collision: + path: object/077_rubiks_cube/collision.obj + pose: + position: + - 0.14450946420431137 + - 0.5571950328350067 + - 0.014685476198792458 + quaternion: + - 0 + - 1 + - 0 + - 0 + scale: 1.0 + visual: + path: object/077_rubiks_cube/textured.obj + static: false + - name: box_03 + collision: + path: object/box_01/box_01.gltf + pose: + position: + - 0.12032246899604797 + - 0.29873199463 + - 0.07645902633667 + quaternion: + - 0 + - 1 + - 0 + - 0 + scale: + - 0.85678016356 + - 0.61481829596 + - 0.554241940054395 + visual: + path: object/box_01/box_01.gltf + - name: padlock + collision: + path: object/038_padlock/collision.obj + pose: + position: + - 0.6944249868392944 + - 0.3147050440311432 + - 0.0003734661149792373 + quaternion: + - 0.9922793507575989 + - 4.655681550502777e-06 + - -1.5650875866413116e-06 + - 0.12402468919754028 + scale: 1.0 + visual: + path: object/038_padlock/textured.obj + - name: tomato_soup_can + collision: + path: object/005_tomato_soup_can/collision.obj + pose: + position: + - 0.4555251896381378 + - 0.380601954460144 + - 0.04085641726851463 + quaternion: + - 0.9875848889350891 + - -0.02464265190064907 + - 0.07233476638793945 + - -0.1372469812631607 + scale: 1.0 + visual: + path: object/005_tomato_soup_can/textured.obj + - name: racquetball + collision: + path: object/057_racquetball/collision.obj + pose: + position: + - 0.5186593532562256 + - 0.44827374815940857 + - 0.013361339457333088 + quaternion: + - 0.9883742928504944 + - 0.0469806045293808 + - -0.08541333675384521 + - -0.1166778951883316 + scale: 1.0 + visual: + path: object/057_racquetball/textured.obj + - name: softball + collision: + path: object/054_softball/collision.obj + pose: + position: + - 0.6148202419281006 + - -0.05641360953450203 + - 0.03259033337235451 + quaternion: + - 0.7703536152839661 + - -0.009078606963157654 + - -0.023455988615751266 + - -0.63712078332901 + scale: 1.0 + visual: + path: object/054_softball/textured.obj + - name: gelatin_box + collision: + path: object/009_gelatin_box/collision.obj + pose: + position: + - 0.5861918330192566 + - -0.45401638746261597 + - 0.1509575988515280187 + quaternion: + - 0.9956064820289612 + - 5.738096660934389e-06 + - -4.77033609058708e-07 + - 0.09363655000925064 + scale: 1.0 + visual: + path: object/009_gelatin_box/textured.obj + - name: banana + collision: + path: object/011_banana/collision.obj + pose: + position: + - 0.6051251888275146 + - 0.3205883204936981 + - 0.008145654574036598 + quaternion: + - 0.9921995401382446 + - 0.005969599820673466 + - 0.10432666540145874 + - 0.06797301024198532 + scale: 1.0 + visual: + path: object/011_banana/textured.obj + - name: phillips_screwdriver + collision: + path: object/043_phillips_screwdriver/collision.obj + pose: + position: + - 0.32418179512023926 + - 0.2760469913482666 + - 0.0011561671271920204 + quaternion: + - 0.4143228828907013 + - 0.5461945533752441 + - 0.5607602596282959 + - 0.4642801284790039 + scale: 1.0 + visual: + path: object/043_phillips_screwdriver/textured.obj + - name: lego_duplo + collision: + path: object/073-a_lego_duplo/collision.obj + pose: + position: + - 0.20800727605819702 + - 0.39792412519454956 + - 0.0082908236980438 + quaternion: + - 0.9950247406959534 + - -0.00427208561450243 + - 0.004261598456650972 + - -0.09944649040699005 + scale: 1.0 + visual: + path: object/073-a_lego_duplo/textured.obj + - name: mustard_bottle + collision: + path: object/006_mustard_bottle/collision.obj + pose: + position: + - 0.20465308278799057 + - -0.568162727355957 + - 0.209444954395294 + quaternion: + - 0.9993992447853088 + - -0.003415777813643217 + - 8.481905388180166e-05 + - -0.03448720648884773 + scale: 1.0 + visual: + path: object/006_mustard_bottle/textured.obj + - name: master_chef_can + collision: + path: object/002_master_chef_can/collision.obj + pose: + position: + - 0.7092649364471436 + - -0.4489493131637573 + - 0.2046752193570137 + quaternion: + - 0.996325671672821 + - 6.102214683778584e-06 + - 5.3836265578866e-07 + - -0.0856466069817543 + scale: 1.0 + visual: + path: object/002_master_chef_can/textured.obj \ No newline at end of file diff --git a/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/shelf/base_scene_shelf_bk.yaml b/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/shelf/base_scene_shelf_bk.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8b0f36a7c6869a87a888f19c1d667115ef151d79 --- /dev/null +++ b/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/shelf/base_scene_shelf_bk.yaml @@ -0,0 +1,253 @@ +objects: + - name: table + visual: + path: object/table/desktable.glb + collision: + path: "object/table/desktable.obj" # same as visual in this case + scale: [2.0, 1.0, 1.5] + pose: + position: [0.4, 0.5, -0.75] + quaternion: [0, 0, 0.7071068, 0.7071068] + - name: rack + visual: + path: object/storage_rack_02/storage_rack_02.gltf + collision: + path: "object/storage_rack_02/rack_convex/" + scale: [0.4, 1.1, 1.0] + pose: + position: [0.4, -0.6, -1.0] + quaternion: [0.5, 0.5, 0.5, 0.5] + - name: rubiks_cube + collision: + path: object/077_rubiks_cube/collision.obj + pose: + position: + - 0.14450946420431137 + - 0.5571950328350067 + - 0.014685476198792458 + quaternion: + - 0 + - 1 + - 0 + - 0 + scale: 1.0 + visual: + path: object/077_rubiks_cube/textured.obj + static: false + - name: box_01 + collision: + path: object/box_01/box_01.gltf + pose: + position: + - 0.50032246899604797 + - 0.078459873199463 + - 0.07645902633667 + quaternion: + - 0.9999445676803589 + - -6.548361852765083e-11 + - 1.7932961782207713e-09 + - -0.010528113692998886 + scale: + - 0.4745678016356 + - 0.8521481829596 + - 0.854241940054395 + visual: + path: object/box_01/box_01.gltf + - name: box_02 + collision: + path: object/box_01/box_01.gltf + pose: + position: + - 0.40032246899604797 + - 0.38459873199463 + - 0.07645902633667 + quaternion: + - 0.94 + - -6.548361852765083e-11 + - 0.3 + - 0.14 + scale: + - 0.6745678016356 + - 0.91481829596 + - 0.854241940054395 + visual: + path: object/box_01/box_01.gltf + - name: box_03 + collision: + path: object/box_01/box_01.gltf + pose: + position: + - 0.30032246899604797 + - 0.1459873199463 + - 0.07645902633667 + quaternion: + - 0.74 + - -6.548361852765083e-11 + - 0.6 + - 0.14 + scale: + - 0.4745678016356 + - 0.51481829596 + - 0.554241940054395 + visual: + path: object/box_01/box_01.gltf + - name: padlock + collision: + path: object/038_padlock/collision.obj + pose: + position: + - 0.6944249868392944 + - 0.3147050440311432 + - 0.0003734661149792373 + quaternion: + - 0.9922793507575989 + - 4.655681550502777e-06 + - -1.5650875866413116e-06 + - 0.12402468919754028 + scale: 1.0 + visual: + path: object/038_padlock/textured.obj + - name: tomato_soup_can + collision: + path: object/005_tomato_soup_can/collision.obj + pose: + position: + - 0.4555251896381378 + - 0.380601954460144 + - 0.04085641726851463 + quaternion: + - 0.9875848889350891 + - -0.02464265190064907 + - 0.07233476638793945 + - -0.1372469812631607 + scale: 1.0 + visual: + path: object/005_tomato_soup_can/textured.obj + - name: racquetball + collision: + path: object/057_racquetball/collision.obj + pose: + position: + - 0.5186593532562256 + - 0.44827374815940857 + - 0.013361339457333088 + quaternion: + - 0.9883742928504944 + - 0.0469806045293808 + - -0.08541333675384521 + - -0.1166778951883316 + scale: 1.0 + visual: + path: object/057_racquetball/textured.obj + - name: softball + collision: + path: object/054_softball/collision.obj + pose: + position: + - 0.6148202419281006 + - -0.05641360953450203 + - 0.03259033337235451 + quaternion: + - 0.7703536152839661 + - -0.009078606963157654 + - -0.023455988615751266 + - -0.63712078332901 + scale: 1.0 + visual: + path: object/054_softball/textured.obj + - name: gelatin_box + collision: + path: object/009_gelatin_box/collision.obj + pose: + position: + - 0.5861918330192566 + - -0.45401638746261597 + - 0.1509575988515280187 + quaternion: + - 0.9956064820289612 + - 5.738096660934389e-06 + - -4.77033609058708e-07 + - 0.09363655000925064 + scale: 1.0 + visual: + path: object/009_gelatin_box/textured.obj + - name: banana + collision: + path: object/011_banana/collision.obj + pose: + position: + - 0.6051251888275146 + - 0.3205883204936981 + - 0.008145654574036598 + quaternion: + - 0.9921995401382446 + - 0.005969599820673466 + - 0.10432666540145874 + - 0.06797301024198532 + scale: 1.0 + visual: + path: object/011_banana/textured.obj + - name: phillips_screwdriver + collision: + path: object/043_phillips_screwdriver/collision.obj + pose: + position: + - 0.32418179512023926 + - 0.2760469913482666 + - 0.0011561671271920204 + quaternion: + - 0.4143228828907013 + - 0.5461945533752441 + - 0.5607602596282959 + - 0.4642801284790039 + scale: 1.0 + visual: + path: object/043_phillips_screwdriver/textured.obj + - name: lego_duplo + collision: + path: object/073-a_lego_duplo/collision.obj + pose: + position: + - 0.20800727605819702 + - 0.39792412519454956 + - 0.0082908236980438 + quaternion: + - 0.9950247406959534 + - -0.00427208561450243 + - 0.004261598456650972 + - -0.09944649040699005 + scale: 1.0 + visual: + path: object/073-a_lego_duplo/textured.obj + - name: mustard_bottle + collision: + path: object/006_mustard_bottle/collision.obj + pose: + position: + - 0.20465308278799057 + - -0.568162727355957 + - 0.209444954395294 + quaternion: + - 0.9993992447853088 + - -0.003415777813643217 + - 8.481905388180166e-05 + - -0.03448720648884773 + scale: 1.0 + visual: + path: object/006_mustard_bottle/textured.obj + - name: master_chef_can + collision: + path: object/002_master_chef_can/collision.obj + pose: + position: + - 0.7092649364471436 + - -0.4489493131637573 + - 0.2046752193570137 + quaternion: + - 0.996325671672821 + - 6.102214683778584e-06 + - 5.3836265578866e-07 + - -0.0856466069817543 + scale: 1.0 + visual: + path: object/002_master_chef_can/textured.obj \ No newline at end of file diff --git a/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/smallbox_distractor/0_scene_config.yaml b/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/smallbox_distractor/0_scene_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f98f558a818e1155b3d5e9b06cf54144c23f702c --- /dev/null +++ b/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/env_config/smallbox_distractor/0_scene_config.yaml @@ -0,0 +1,298 @@ +objects: +- collision: + path: object/table/desktable.obj + name: table + pose: + position: + - 0.4000000059604645 + - 0.0 + - -0.75 + quaternion: + - 0.0 + - 0.0 + - 0.7071068286895752 + - 0.7071068286895752 + scale: + - 2.0 + - 1.0 + - 1.5 + visual: + path: object/table/desktable.glb +- collision: + path: object/box_01/box_01.gltf + name: box_01 + pose: + position: + - 0.40223264694213867 + - 0.3123449385166168 + - 0.1262725293636322 + quaternion: + - 0.9999446868896484 + - 1.2369127944111824e-10 + - 1.4169927453622222e-09 + - -0.010528115555644035 + scale: + - 0.30462633472651585 + - 0.4503056890001809 + - 0.6995941077533729 + visual: + path: object/box_01/box_01.gltf +- collision: + path: object/box_01/box_01.gltf + name: box_02 + pose: + position: + - 0.3150542974472046 + - -0.3812951445579529 + - 0.10678974539041519 + quaternion: + - 0.996768593788147 + - -1.3969838619232178e-09 + - 3.0918272386770695e-09 + - -0.08032844215631485 + scale: + - 0.48187877729829126 + - 0.5548228280451645 + - 0.6028739189573185 + visual: + path: object/box_01/box_01.gltf +- collision: + path: object/051_large_clamp/collision.obj + name: large_clamp + pose: + position: + - 0.584439754486084 + - -0.22213400900363922 + - 0.004791975952684879 + quaternion: + - 0.002796723274514079 + - -0.1459367871284485 + - 0.9892842769622803 + - 0.0033416403457522392 + scale: 1.0 + visual: + path: object/051_large_clamp/textured.obj +- collision: + path: object/032_knife/collision.obj + name: knife + pose: + position: + - 0.35055428743362427 + - -0.1355627328157425 + - -0.0067039430141448975 + quaternion: + - 0.9334280490875244 + - -0.05452807992696762 + - -0.01979675143957138 + - 0.3540438711643219 + scale: 1.0 + visual: + path: object/032_knife/textured.obj +- collision: + path: object/038_padlock/collision.obj + name: padlock + pose: + position: + - 0.138945072889328 + - -0.10497855395078659 + - 0.00036934210220351815 + quaternion: + - 0.8695016503334045 + - 1.341104507446289e-06 + - 2.130400389432907e-07 + - -0.49393025040626526 + scale: 1.0 + visual: + path: object/038_padlock/textured.obj +- collision: + path: object/005_tomato_soup_can/collision.obj + name: tomato_soup_can + pose: + position: + - 0.6901222467422485 + - 0.3174823224544525 + - 0.03674052655696869 + quaternion: + - 0.8986074924468994 + - 0.004030358511954546 + - -0.002479385817423463 + - -0.4387280344963074 + scale: 1.0 + visual: + path: object/005_tomato_soup_can/textured.obj +- collision: + path: object/057_racquetball/collision.obj + name: racquetball + pose: + position: + - 0.4518440067768097 + - 0.21447575092315674 + - 0.01335979625582695 + quaternion: + - 0.7228356003761292 + - 0.09567251801490784 + - -0.018657231703400612 + - 0.6841108202934265 + scale: 1.0 + visual: + path: object/057_racquetball/textured.obj +- collision: + path: object/054_softball/collision.obj + name: softball + pose: + position: + - 1.30521559715271 + - 0.7335830926895142 + - -0.7522017359733582 + quaternion: + - -0.3505839705467224 + - 0.03578297793865204 + - -0.20327439904212952 + - 0.9135043025016785 + scale: 1.0 + visual: + path: object/054_softball/textured.obj +- collision: + path: object/009_gelatin_box/collision.obj + name: gelatin_box + pose: + position: + - 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0.29308608174324036 + - 0.3717246353626251 + - 0.0019358249846845865 + quaternion: + - 0.5642140507698059 + - -0.5642128586769104 + - -0.4262217581272125 + - 0.42621782422065735 + scale: 1.0 + visual: + path: object/073-a_lego_duplo/textured.obj +- collision: + path: object/006_mustard_bottle/collision.obj + name: mustard_bottle + pose: + position: + - 0.28654640913009644 + - 0.2471473067998886 + - 0.08319185674190521 + quaternion: + - 0.9847010374069214 + - -0.003371434984728694 + - 0.000562316388823092 + - -0.17421913146972656 + scale: 1.0 + visual: + path: object/006_mustard_bottle/textured.obj +- collision: + path: object/002_master_chef_can/collision.obj + name: master_chef_can + pose: + position: + - 0.6450095772743225 + - 0.10874105244874954 + - 0.05646499618887901 + quaternion: + - 0.9732245206832886 + - 3.6243873182684183e-06 + - -1.0659859981387854e-06 + - -0.2298567295074463 + scale: 1.0 + visual: + path: object/002_master_chef_can/textured.obj +- collision: + path: object/036_wood_block/collision.obj + name: wood_block + pose: + position: + - 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