From 19d3274ae3b99b3cad845ec2a2642fccaa99e982 Mon Sep 17 00:00:00 2001 From: Ben Eisner Date: Mon, 13 May 2024 11:57:17 -0400 Subject: [PATCH] add the generated rlbench10 tasks (#48) --- .../rlbench/pick_and_lift/_default.yaml | 125 ++++++++++++++++++ .../dataset/rlbench/pick_and_lift/all.yaml | 3 + .../dataset/rlbench/pick_and_lift/final.yaml | 3 + .../dataset/rlbench/pick_and_lift/grasp.yaml | 3 + .../dataset/rlbench/pick_and_lift/lift.yaml | 3 + .../rlbench/pick_and_lift/pregrasp.yaml | 3 + .../dataset/rlbench/pick_up_cup/_default.yaml | 125 ++++++++++++++++++ configs/dataset/rlbench/pick_up_cup/all.yaml | 3 + .../dataset/rlbench/pick_up_cup/grasp.yaml | 3 + configs/dataset/rlbench/pick_up_cup/lift.yaml | 3 + .../dataset/rlbench/pick_up_cup/pregrasp.yaml | 3 + .../dataset/rlbench/push_button/_default.yaml | 125 ++++++++++++++++++ configs/dataset/rlbench/push_button/all.yaml | 3 + .../dataset/rlbench/push_button/postpush.yaml | 3 + .../dataset/rlbench/push_button/prepush.yaml | 3 + .../put_knife_on_chopping_board/_default.yaml | 125 ++++++++++++++++++ .../put_knife_on_chopping_board/all.yaml | 3 + .../put_knife_on_chopping_board/grasp.yaml | 3 + .../put_knife_on_chopping_board/lift.yaml | 3 + .../put_knife_on_chopping_board/place.yaml | 3 + .../put_knife_on_chopping_board/pregrasp.yaml | 3 + .../rlbench/put_money_in_safe/_default.yaml | 125 ++++++++++++++++++ .../rlbench/put_money_in_safe/all.yaml | 3 + .../rlbench/put_money_in_safe/grasp.yaml | 3 + .../rlbench/put_money_in_safe/lift.yaml | 3 + .../rlbench/put_money_in_safe/place.yaml | 3 + .../rlbench/put_money_in_safe/pregrasp.yaml | 3 + .../rlbench/put_money_in_safe/preplace.yaml | 3 + .../rlbench/reach_target/_default.yaml | 125 ++++++++++++++++++ configs/dataset/rlbench/reach_target/all.yaml | 3 + .../dataset/rlbench/reach_target/reach.yaml | 3 + .../slide_block_to_target/_default.yaml | 125 ++++++++++++++++++ .../rlbench/slide_block_to_target/all.yaml | 3 + .../slide_block_to_target/postslide.yaml | 3 + .../slide_block_to_target/preslide.yaml | 3 + .../rlbench/take_money_out_safe/_default.yaml | 125 ++++++++++++++++++ .../rlbench/take_money_out_safe/all.yaml | 3 + .../rlbench/take_money_out_safe/grasp.yaml | 3 + .../rlbench/take_money_out_safe/lift.yaml | 3 + .../rlbench/take_money_out_safe/place.yaml | 3 + .../rlbench/take_money_out_safe/pregrasp.yaml | 3 + .../_default.yaml | 125 ++++++++++++++++++ .../all.yaml | 3 + .../grasp.yaml | 3 + .../lift.yaml | 3 + .../pregasp.yaml | 3 + .../task/rlbench/pick_and_lift/phase/all.yaml | 7 + .../rlbench/pick_and_lift/phase/final.yaml | 7 + .../rlbench/pick_and_lift/phase/grasp.yaml | 7 + .../rlbench/pick_and_lift/phase/lift.yaml | 7 + .../rlbench/pick_and_lift/phase/pregrasp.yaml | 7 + configs/task/rlbench/pick_and_lift/task.yaml | 6 + .../task/rlbench/pick_up_cup/phase/all.yaml | 7 + .../task/rlbench/pick_up_cup/phase/grasp.yaml | 7 + .../task/rlbench/pick_up_cup/phase/lift.yaml | 7 + .../rlbench/pick_up_cup/phase/pregrasp.yaml | 7 + configs/task/rlbench/pick_up_cup/task.yaml | 5 + .../task/rlbench/push_button/phase/all.yaml | 7 + .../rlbench/push_button/phase/postpush.yaml | 7 + .../rlbench/push_button/phase/prepush.yaml | 7 + configs/task/rlbench/push_button/task.yaml | 4 + .../phase/all.yaml | 7 + .../phase/grasp.yaml | 7 + .../phase/lift.yaml | 7 + .../phase/place.yaml | 7 + .../phase/pregrasp.yaml | 7 + .../put_knife_on_chopping_board/task.yaml | 6 + .../rlbench/put_money_in_safe/phase/all.yaml | 7 + .../put_money_in_safe/phase/grasp.yaml | 7 + .../rlbench/put_money_in_safe/phase/lift.yaml | 7 + .../put_money_in_safe/phase/place.yaml | 7 + .../put_money_in_safe/phase/pregrasp.yaml | 7 + .../put_money_in_safe/phase/preplace.yaml | 7 + .../task/rlbench/put_money_in_safe/task.yaml | 7 + .../task/rlbench/reach_target/phase/all.yaml | 7 + .../rlbench/reach_target/phase/reach.yaml | 7 + configs/task/rlbench/reach_target/task.yaml | 3 + .../slide_block_to_target/phase/all.yaml | 7 + .../phase/postslide.yaml | 7 + .../slide_block_to_target/phase/preslide.yaml | 7 + .../rlbench/slide_block_to_target/task.yaml | 4 + .../take_money_out_safe/phase/all.yaml | 7 + .../take_money_out_safe/phase/grasp.yaml | 7 + .../take_money_out_safe/phase/lift.yaml | 7 + .../take_money_out_safe/phase/place.yaml | 7 + .../take_money_out_safe/phase/pregrasp.yaml | 7 + .../rlbench/take_money_out_safe/task.yaml | 6 + .../phase/all.yaml | 7 + .../phase/grasp.yaml | 7 + .../phase/lift.yaml | 7 + .../phase/pregasp.yaml | 7 + .../task.yaml | 5 + 92 files changed, 1541 insertions(+) create mode 100644 configs/dataset/rlbench/pick_and_lift/_default.yaml create mode 100644 configs/dataset/rlbench/pick_and_lift/all.yaml create mode 100644 configs/dataset/rlbench/pick_and_lift/final.yaml create mode 100644 configs/dataset/rlbench/pick_and_lift/grasp.yaml create mode 100644 configs/dataset/rlbench/pick_and_lift/lift.yaml create mode 100644 configs/dataset/rlbench/pick_and_lift/pregrasp.yaml create mode 100644 configs/dataset/rlbench/pick_up_cup/_default.yaml create mode 100644 configs/dataset/rlbench/pick_up_cup/all.yaml create mode 100644 configs/dataset/rlbench/pick_up_cup/grasp.yaml create mode 100644 configs/dataset/rlbench/pick_up_cup/lift.yaml create mode 100644 configs/dataset/rlbench/pick_up_cup/pregrasp.yaml create mode 100644 configs/dataset/rlbench/push_button/_default.yaml create mode 100644 configs/dataset/rlbench/push_button/all.yaml create mode 100644 configs/dataset/rlbench/push_button/postpush.yaml create mode 100644 configs/dataset/rlbench/push_button/prepush.yaml create mode 100644 configs/dataset/rlbench/put_knife_on_chopping_board/_default.yaml create mode 100644 configs/dataset/rlbench/put_knife_on_chopping_board/all.yaml create mode 100644 configs/dataset/rlbench/put_knife_on_chopping_board/grasp.yaml create mode 100644 configs/dataset/rlbench/put_knife_on_chopping_board/lift.yaml create mode 100644 configs/dataset/rlbench/put_knife_on_chopping_board/place.yaml create mode 100644 configs/dataset/rlbench/put_knife_on_chopping_board/pregrasp.yaml create mode 100644 configs/dataset/rlbench/put_money_in_safe/_default.yaml create mode 100644 configs/dataset/rlbench/put_money_in_safe/all.yaml create mode 100644 configs/dataset/rlbench/put_money_in_safe/grasp.yaml create mode 100644 configs/dataset/rlbench/put_money_in_safe/lift.yaml create mode 100644 configs/dataset/rlbench/put_money_in_safe/place.yaml create mode 100644 configs/dataset/rlbench/put_money_in_safe/pregrasp.yaml create mode 100644 configs/dataset/rlbench/put_money_in_safe/preplace.yaml create mode 100644 configs/dataset/rlbench/reach_target/_default.yaml create mode 100644 configs/dataset/rlbench/reach_target/all.yaml create mode 100644 configs/dataset/rlbench/reach_target/reach.yaml create mode 100644 configs/dataset/rlbench/slide_block_to_target/_default.yaml create mode 100644 configs/dataset/rlbench/slide_block_to_target/all.yaml create mode 100644 configs/dataset/rlbench/slide_block_to_target/postslide.yaml create mode 100644 configs/dataset/rlbench/slide_block_to_target/preslide.yaml create mode 100644 configs/dataset/rlbench/take_money_out_safe/_default.yaml create mode 100644 configs/dataset/rlbench/take_money_out_safe/all.yaml create mode 100644 configs/dataset/rlbench/take_money_out_safe/grasp.yaml create mode 100644 configs/dataset/rlbench/take_money_out_safe/lift.yaml create mode 100644 configs/dataset/rlbench/take_money_out_safe/place.yaml create mode 100644 configs/dataset/rlbench/take_money_out_safe/pregrasp.yaml create mode 100644 configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/_default.yaml create mode 100644 configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/all.yaml create mode 100644 configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/grasp.yaml create mode 100644 configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/lift.yaml create mode 100644 configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/pregasp.yaml create mode 100644 configs/task/rlbench/pick_and_lift/phase/all.yaml create mode 100644 configs/task/rlbench/pick_and_lift/phase/final.yaml create mode 100644 configs/task/rlbench/pick_and_lift/phase/grasp.yaml create mode 100644 configs/task/rlbench/pick_and_lift/phase/lift.yaml create mode 100644 configs/task/rlbench/pick_and_lift/phase/pregrasp.yaml create mode 100644 configs/task/rlbench/pick_and_lift/task.yaml create mode 100644 configs/task/rlbench/pick_up_cup/phase/all.yaml create mode 100644 configs/task/rlbench/pick_up_cup/phase/grasp.yaml create mode 100644 configs/task/rlbench/pick_up_cup/phase/lift.yaml create mode 100644 configs/task/rlbench/pick_up_cup/phase/pregrasp.yaml create mode 100644 configs/task/rlbench/pick_up_cup/task.yaml create mode 100644 configs/task/rlbench/push_button/phase/all.yaml create mode 100644 configs/task/rlbench/push_button/phase/postpush.yaml create mode 100644 configs/task/rlbench/push_button/phase/prepush.yaml create mode 100644 configs/task/rlbench/push_button/task.yaml create mode 100644 configs/task/rlbench/put_knife_on_chopping_board/phase/all.yaml create mode 100644 configs/task/rlbench/put_knife_on_chopping_board/phase/grasp.yaml create mode 100644 configs/task/rlbench/put_knife_on_chopping_board/phase/lift.yaml create mode 100644 configs/task/rlbench/put_knife_on_chopping_board/phase/place.yaml create mode 100644 configs/task/rlbench/put_knife_on_chopping_board/phase/pregrasp.yaml create mode 100644 configs/task/rlbench/put_knife_on_chopping_board/task.yaml create mode 100644 configs/task/rlbench/put_money_in_safe/phase/all.yaml create mode 100644 configs/task/rlbench/put_money_in_safe/phase/grasp.yaml create mode 100644 configs/task/rlbench/put_money_in_safe/phase/lift.yaml create mode 100644 configs/task/rlbench/put_money_in_safe/phase/place.yaml create mode 100644 configs/task/rlbench/put_money_in_safe/phase/pregrasp.yaml create mode 100644 configs/task/rlbench/put_money_in_safe/phase/preplace.yaml create mode 100644 configs/task/rlbench/put_money_in_safe/task.yaml create mode 100644 configs/task/rlbench/reach_target/phase/all.yaml create mode 100644 configs/task/rlbench/reach_target/phase/reach.yaml create mode 100644 configs/task/rlbench/reach_target/task.yaml create mode 100644 configs/task/rlbench/slide_block_to_target/phase/all.yaml create mode 100644 configs/task/rlbench/slide_block_to_target/phase/postslide.yaml create mode 100644 configs/task/rlbench/slide_block_to_target/phase/preslide.yaml create mode 100644 configs/task/rlbench/slide_block_to_target/task.yaml create mode 100644 configs/task/rlbench/take_money_out_safe/phase/all.yaml create mode 100644 configs/task/rlbench/take_money_out_safe/phase/grasp.yaml create mode 100644 configs/task/rlbench/take_money_out_safe/phase/lift.yaml create mode 100644 configs/task/rlbench/take_money_out_safe/phase/place.yaml create mode 100644 configs/task/rlbench/take_money_out_safe/phase/pregrasp.yaml create mode 100644 configs/task/rlbench/take_money_out_safe/task.yaml create mode 100644 configs/task/rlbench/take_umbrella_out_of_umbrella_stand/phase/all.yaml create mode 100644 configs/task/rlbench/take_umbrella_out_of_umbrella_stand/phase/grasp.yaml create mode 100644 configs/task/rlbench/take_umbrella_out_of_umbrella_stand/phase/lift.yaml create mode 100644 configs/task/rlbench/take_umbrella_out_of_umbrella_stand/phase/pregasp.yaml create mode 100644 configs/task/rlbench/take_umbrella_out_of_umbrella_stand/task.yaml diff --git a/configs/dataset/rlbench/pick_and_lift/_default.yaml b/configs/dataset/rlbench/pick_and_lift/_default.yaml new file mode 100644 index 0000000..dfcd518 --- /dev/null +++ b/configs/dataset/rlbench/pick_and_lift/_default.yaml @@ -0,0 +1,125 @@ +defaults: +- ../_default@_here_ +- _self_ +test_dset: + demo_dset: + dataset_type: ${benchmark.name} + episodes: null +train_dset: + demo_dset: + dataset_type: ${benchmark.name} + episodes: + - 0 + - 1 + - 2 + - 3 + - 4 + - 5 + - 6 + - 7 + - 8 + - 9 + - 10 + - 11 + - 12 + - 13 + - 14 + - 15 + - 16 + - 17 + - 18 + - 19 + - 20 + - 21 + - 22 + - 23 + - 24 + - 25 + - 26 + - 27 + - 28 + - 29 + - 30 + - 31 + - 32 + - 33 + - 34 + - 35 + - 36 + - 37 + - 38 + - 39 + - 40 + - 41 + - 42 + - 43 + - 44 + - 45 + - 46 + - 47 + - 48 + - 49 + - 50 + - 51 + - 52 + - 53 + - 54 + - 55 + - 56 + - 57 + - 58 + - 59 + - 60 + - 61 + - 62 + - 63 + - 64 + - 65 + - 66 + - 67 + - 68 + - 69 + - 70 + - 71 + - 72 + - 73 + - 74 + - 75 + - 76 + - 77 + - 78 + - 79 + - 80 + - 81 + - 82 + - 83 + - 84 + - 85 + - 86 + - 87 + - 88 + - 89 + - 90 + - 91 + - 92 + - 93 + - 94 + - 95 + - 96 + - 97 + - 98 + - 99 +val_dset: + demo_dset: + dataset_type: ${benchmark.name} + episodes: + - 0 + - 1 + - 2 + - 3 + - 4 + - 5 + - 6 + - 7 + - 8 + - 9 diff --git a/configs/dataset/rlbench/pick_and_lift/all.yaml b/configs/dataset/rlbench/pick_and_lift/all.yaml new file mode 100644 index 0000000..43ca875 --- /dev/null +++ b/configs/dataset/rlbench/pick_and_lift/all.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/pick_and_lift/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/pick_and_lift/final.yaml b/configs/dataset/rlbench/pick_and_lift/final.yaml new file mode 100644 index 0000000..43ca875 --- /dev/null +++ b/configs/dataset/rlbench/pick_and_lift/final.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/pick_and_lift/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/pick_and_lift/grasp.yaml b/configs/dataset/rlbench/pick_and_lift/grasp.yaml new file mode 100644 index 0000000..43ca875 --- /dev/null +++ b/configs/dataset/rlbench/pick_and_lift/grasp.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/pick_and_lift/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/pick_and_lift/lift.yaml b/configs/dataset/rlbench/pick_and_lift/lift.yaml new file mode 100644 index 0000000..43ca875 --- /dev/null +++ b/configs/dataset/rlbench/pick_and_lift/lift.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/pick_and_lift/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/pick_and_lift/pregrasp.yaml b/configs/dataset/rlbench/pick_and_lift/pregrasp.yaml new file mode 100644 index 0000000..43ca875 --- /dev/null +++ b/configs/dataset/rlbench/pick_and_lift/pregrasp.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/pick_and_lift/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/pick_up_cup/_default.yaml b/configs/dataset/rlbench/pick_up_cup/_default.yaml new file mode 100644 index 0000000..dfcd518 --- /dev/null +++ b/configs/dataset/rlbench/pick_up_cup/_default.yaml @@ -0,0 +1,125 @@ +defaults: +- ../_default@_here_ +- _self_ +test_dset: + demo_dset: + dataset_type: ${benchmark.name} + episodes: null +train_dset: + demo_dset: + dataset_type: ${benchmark.name} + episodes: + - 0 + - 1 + - 2 + - 3 + - 4 + - 5 + - 6 + - 7 + - 8 + - 9 + - 10 + - 11 + - 12 + - 13 + - 14 + - 15 + - 16 + - 17 + - 18 + - 19 + - 20 + - 21 + - 22 + - 23 + - 24 + - 25 + - 26 + - 27 + - 28 + - 29 + - 30 + - 31 + - 32 + - 33 + - 34 + - 35 + - 36 + - 37 + - 38 + - 39 + - 40 + - 41 + - 42 + - 43 + - 44 + - 45 + - 46 + - 47 + - 48 + - 49 + - 50 + - 51 + - 52 + - 53 + - 54 + - 55 + - 56 + - 57 + - 58 + - 59 + - 60 + - 61 + - 62 + - 63 + - 64 + - 65 + - 66 + - 67 + - 68 + - 69 + - 70 + - 71 + - 72 + - 73 + - 74 + - 75 + - 76 + - 77 + - 78 + - 79 + - 80 + - 81 + - 82 + - 83 + - 84 + - 85 + - 86 + - 87 + - 88 + - 89 + - 90 + - 91 + - 92 + - 93 + - 94 + - 95 + - 96 + - 97 + - 98 + - 99 +val_dset: + demo_dset: + dataset_type: ${benchmark.name} + episodes: + - 0 + - 1 + - 2 + - 3 + - 4 + - 5 + - 6 + - 7 + - 8 + - 9 diff --git a/configs/dataset/rlbench/pick_up_cup/all.yaml b/configs/dataset/rlbench/pick_up_cup/all.yaml new file mode 100644 index 0000000..fe1de87 --- /dev/null +++ b/configs/dataset/rlbench/pick_up_cup/all.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/pick_up_cup/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/pick_up_cup/grasp.yaml b/configs/dataset/rlbench/pick_up_cup/grasp.yaml new file mode 100644 index 0000000..fe1de87 --- /dev/null +++ b/configs/dataset/rlbench/pick_up_cup/grasp.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/pick_up_cup/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/pick_up_cup/lift.yaml b/configs/dataset/rlbench/pick_up_cup/lift.yaml new file mode 100644 index 0000000..fe1de87 --- /dev/null +++ b/configs/dataset/rlbench/pick_up_cup/lift.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/pick_up_cup/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/pick_up_cup/pregrasp.yaml b/configs/dataset/rlbench/pick_up_cup/pregrasp.yaml new file mode 100644 index 0000000..fe1de87 --- /dev/null +++ b/configs/dataset/rlbench/pick_up_cup/pregrasp.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/pick_up_cup/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/push_button/_default.yaml b/configs/dataset/rlbench/push_button/_default.yaml new file mode 100644 index 0000000..dfcd518 --- /dev/null +++ b/configs/dataset/rlbench/push_button/_default.yaml @@ -0,0 +1,125 @@ +defaults: +- ../_default@_here_ +- _self_ +test_dset: + demo_dset: + dataset_type: ${benchmark.name} + episodes: null +train_dset: + demo_dset: + dataset_type: ${benchmark.name} + episodes: + - 0 + - 1 + - 2 + - 3 + - 4 + - 5 + - 6 + - 7 + - 8 + - 9 + - 10 + - 11 + - 12 + - 13 + - 14 + - 15 + - 16 + - 17 + - 18 + - 19 + - 20 + - 21 + - 22 + - 23 + - 24 + - 25 + - 26 + - 27 + - 28 + - 29 + - 30 + - 31 + - 32 + - 33 + - 34 + - 35 + - 36 + - 37 + - 38 + - 39 + - 40 + - 41 + - 42 + - 43 + - 44 + - 45 + - 46 + - 47 + - 48 + - 49 + - 50 + - 51 + - 52 + - 53 + - 54 + - 55 + - 56 + - 57 + - 58 + - 59 + - 60 + - 61 + - 62 + - 63 + - 64 + - 65 + - 66 + - 67 + - 68 + - 69 + - 70 + - 71 + - 72 + - 73 + - 74 + - 75 + - 76 + - 77 + - 78 + - 79 + - 80 + - 81 + - 82 + - 83 + - 84 + - 85 + - 86 + - 87 + - 88 + - 89 + - 90 + - 91 + - 92 + - 93 + - 94 + - 95 + - 96 + - 97 + - 98 + - 99 +val_dset: + demo_dset: + dataset_type: ${benchmark.name} + episodes: + - 0 + - 1 + - 2 + - 3 + - 4 + - 5 + - 6 + - 7 + - 8 + - 9 diff --git a/configs/dataset/rlbench/push_button/all.yaml b/configs/dataset/rlbench/push_button/all.yaml new file mode 100644 index 0000000..d2ab637 --- /dev/null +++ b/configs/dataset/rlbench/push_button/all.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/push_button/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/push_button/postpush.yaml b/configs/dataset/rlbench/push_button/postpush.yaml new file mode 100644 index 0000000..d2ab637 --- /dev/null +++ b/configs/dataset/rlbench/push_button/postpush.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/push_button/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/push_button/prepush.yaml b/configs/dataset/rlbench/push_button/prepush.yaml new file mode 100644 index 0000000..d2ab637 --- /dev/null +++ b/configs/dataset/rlbench/push_button/prepush.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/push_button/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/put_knife_on_chopping_board/_default.yaml b/configs/dataset/rlbench/put_knife_on_chopping_board/_default.yaml new file mode 100644 index 0000000..dfcd518 --- /dev/null +++ b/configs/dataset/rlbench/put_knife_on_chopping_board/_default.yaml @@ -0,0 +1,125 @@ +defaults: +- ../_default@_here_ +- _self_ +test_dset: + demo_dset: + dataset_type: ${benchmark.name} + episodes: null +train_dset: + demo_dset: + dataset_type: ${benchmark.name} + episodes: + - 0 + - 1 + - 2 + - 3 + - 4 + - 5 + - 6 + - 7 + - 8 + - 9 + - 10 + - 11 + - 12 + - 13 + - 14 + - 15 + - 16 + - 17 + - 18 + - 19 + - 20 + - 21 + - 22 + - 23 + - 24 + - 25 + - 26 + - 27 + - 28 + - 29 + - 30 + - 31 + - 32 + - 33 + - 34 + - 35 + - 36 + - 37 + - 38 + - 39 + - 40 + - 41 + - 42 + - 43 + - 44 + - 45 + - 46 + - 47 + - 48 + - 49 + - 50 + - 51 + - 52 + - 53 + - 54 + - 55 + - 56 + - 57 + - 58 + - 59 + - 60 + - 61 + - 62 + - 63 + - 64 + - 65 + - 66 + - 67 + - 68 + - 69 + - 70 + - 71 + - 72 + - 73 + - 74 + - 75 + - 76 + - 77 + - 78 + - 79 + - 80 + - 81 + - 82 + - 83 + - 84 + - 85 + - 86 + - 87 + - 88 + - 89 + - 90 + - 91 + - 92 + - 93 + - 94 + - 95 + - 96 + - 97 + - 98 + - 99 +val_dset: + demo_dset: + dataset_type: ${benchmark.name} + episodes: + - 0 + - 1 + - 2 + - 3 + - 4 + - 5 + - 6 + - 7 + - 8 + - 9 diff --git a/configs/dataset/rlbench/put_knife_on_chopping_board/all.yaml b/configs/dataset/rlbench/put_knife_on_chopping_board/all.yaml new file mode 100644 index 0000000..08f3d76 --- /dev/null +++ b/configs/dataset/rlbench/put_knife_on_chopping_board/all.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/put_knife_on_chopping_board/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/put_knife_on_chopping_board/grasp.yaml b/configs/dataset/rlbench/put_knife_on_chopping_board/grasp.yaml new file mode 100644 index 0000000..08f3d76 --- /dev/null +++ b/configs/dataset/rlbench/put_knife_on_chopping_board/grasp.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/put_knife_on_chopping_board/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/put_knife_on_chopping_board/lift.yaml b/configs/dataset/rlbench/put_knife_on_chopping_board/lift.yaml new file mode 100644 index 0000000..08f3d76 --- /dev/null +++ b/configs/dataset/rlbench/put_knife_on_chopping_board/lift.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/put_knife_on_chopping_board/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/put_knife_on_chopping_board/place.yaml b/configs/dataset/rlbench/put_knife_on_chopping_board/place.yaml new file mode 100644 index 0000000..08f3d76 --- /dev/null +++ b/configs/dataset/rlbench/put_knife_on_chopping_board/place.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/put_knife_on_chopping_board/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/put_knife_on_chopping_board/pregrasp.yaml b/configs/dataset/rlbench/put_knife_on_chopping_board/pregrasp.yaml new file mode 100644 index 0000000..08f3d76 --- /dev/null +++ b/configs/dataset/rlbench/put_knife_on_chopping_board/pregrasp.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/put_knife_on_chopping_board/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/put_money_in_safe/_default.yaml b/configs/dataset/rlbench/put_money_in_safe/_default.yaml new file mode 100644 index 0000000..dfcd518 --- /dev/null +++ b/configs/dataset/rlbench/put_money_in_safe/_default.yaml @@ -0,0 +1,125 @@ +defaults: +- ../_default@_here_ +- _self_ +test_dset: + demo_dset: + dataset_type: ${benchmark.name} + episodes: null +train_dset: + demo_dset: + dataset_type: ${benchmark.name} + episodes: + - 0 + - 1 + - 2 + - 3 + - 4 + - 5 + - 6 + - 7 + - 8 + - 9 + - 10 + - 11 + - 12 + - 13 + - 14 + - 15 + - 16 + - 17 + - 18 + - 19 + - 20 + - 21 + - 22 + - 23 + - 24 + - 25 + - 26 + - 27 + - 28 + - 29 + - 30 + - 31 + - 32 + - 33 + - 34 + - 35 + - 36 + - 37 + - 38 + - 39 + - 40 + - 41 + - 42 + - 43 + - 44 + - 45 + - 46 + - 47 + - 48 + - 49 + - 50 + - 51 + - 52 + - 53 + - 54 + - 55 + - 56 + - 57 + - 58 + - 59 + - 60 + - 61 + - 62 + - 63 + - 64 + - 65 + - 66 + - 67 + - 68 + - 69 + - 70 + - 71 + - 72 + - 73 + - 74 + - 75 + - 76 + - 77 + - 78 + - 79 + - 80 + - 81 + - 82 + - 83 + - 84 + - 85 + - 86 + - 87 + - 88 + - 89 + - 90 + - 91 + - 92 + - 93 + - 94 + - 95 + - 96 + - 97 + - 98 + - 99 +val_dset: + demo_dset: + dataset_type: ${benchmark.name} + episodes: + - 0 + - 1 + - 2 + - 3 + - 4 + - 5 + - 6 + - 7 + - 8 + - 9 diff --git a/configs/dataset/rlbench/put_money_in_safe/all.yaml b/configs/dataset/rlbench/put_money_in_safe/all.yaml new file mode 100644 index 0000000..f93c3a9 --- /dev/null +++ b/configs/dataset/rlbench/put_money_in_safe/all.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/put_money_in_safe/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/put_money_in_safe/grasp.yaml b/configs/dataset/rlbench/put_money_in_safe/grasp.yaml new file mode 100644 index 0000000..f93c3a9 --- /dev/null +++ b/configs/dataset/rlbench/put_money_in_safe/grasp.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/put_money_in_safe/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/put_money_in_safe/lift.yaml b/configs/dataset/rlbench/put_money_in_safe/lift.yaml new file mode 100644 index 0000000..f93c3a9 --- /dev/null +++ b/configs/dataset/rlbench/put_money_in_safe/lift.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/put_money_in_safe/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/put_money_in_safe/place.yaml b/configs/dataset/rlbench/put_money_in_safe/place.yaml new file mode 100644 index 0000000..f93c3a9 --- /dev/null +++ b/configs/dataset/rlbench/put_money_in_safe/place.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/put_money_in_safe/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/put_money_in_safe/pregrasp.yaml b/configs/dataset/rlbench/put_money_in_safe/pregrasp.yaml new file mode 100644 index 0000000..f93c3a9 --- /dev/null +++ b/configs/dataset/rlbench/put_money_in_safe/pregrasp.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/put_money_in_safe/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/put_money_in_safe/preplace.yaml b/configs/dataset/rlbench/put_money_in_safe/preplace.yaml new file mode 100644 index 0000000..f93c3a9 --- /dev/null +++ b/configs/dataset/rlbench/put_money_in_safe/preplace.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/put_money_in_safe/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/reach_target/_default.yaml b/configs/dataset/rlbench/reach_target/_default.yaml new file mode 100644 index 0000000..dfcd518 --- /dev/null +++ b/configs/dataset/rlbench/reach_target/_default.yaml @@ -0,0 +1,125 @@ +defaults: +- ../_default@_here_ +- _self_ +test_dset: + demo_dset: + dataset_type: ${benchmark.name} + episodes: null +train_dset: + demo_dset: + dataset_type: ${benchmark.name} + episodes: + - 0 + - 1 + - 2 + - 3 + - 4 + - 5 + - 6 + - 7 + - 8 + - 9 + - 10 + - 11 + - 12 + - 13 + - 14 + - 15 + - 16 + - 17 + - 18 + - 19 + - 20 + - 21 + - 22 + - 23 + - 24 + - 25 + - 26 + - 27 + - 28 + - 29 + - 30 + - 31 + - 32 + - 33 + - 34 + - 35 + - 36 + - 37 + - 38 + - 39 + - 40 + - 41 + - 42 + - 43 + - 44 + - 45 + - 46 + - 47 + - 48 + - 49 + - 50 + - 51 + - 52 + - 53 + - 54 + - 55 + - 56 + - 57 + - 58 + - 59 + - 60 + - 61 + - 62 + - 63 + - 64 + - 65 + - 66 + - 67 + - 68 + - 69 + - 70 + - 71 + - 72 + - 73 + - 74 + - 75 + - 76 + - 77 + - 78 + - 79 + - 80 + - 81 + - 82 + - 83 + - 84 + - 85 + - 86 + - 87 + - 88 + - 89 + - 90 + - 91 + - 92 + - 93 + - 94 + - 95 + - 96 + - 97 + - 98 + - 99 +val_dset: + demo_dset: + dataset_type: ${benchmark.name} + episodes: + - 0 + - 1 + - 2 + - 3 + - 4 + - 5 + - 6 + - 7 + - 8 + - 9 diff --git a/configs/dataset/rlbench/reach_target/all.yaml b/configs/dataset/rlbench/reach_target/all.yaml new file mode 100644 index 0000000..6341510 --- /dev/null +++ b/configs/dataset/rlbench/reach_target/all.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/reach_target/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/reach_target/reach.yaml b/configs/dataset/rlbench/reach_target/reach.yaml new file mode 100644 index 0000000..6341510 --- /dev/null +++ b/configs/dataset/rlbench/reach_target/reach.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/reach_target/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/slide_block_to_target/_default.yaml b/configs/dataset/rlbench/slide_block_to_target/_default.yaml new file mode 100644 index 0000000..dfcd518 --- /dev/null +++ b/configs/dataset/rlbench/slide_block_to_target/_default.yaml @@ -0,0 +1,125 @@ +defaults: +- ../_default@_here_ +- _self_ +test_dset: + demo_dset: + dataset_type: ${benchmark.name} + episodes: null +train_dset: + demo_dset: + dataset_type: ${benchmark.name} + episodes: + - 0 + - 1 + - 2 + - 3 + - 4 + - 5 + - 6 + - 7 + - 8 + - 9 + - 10 + - 11 + - 12 + - 13 + - 14 + - 15 + - 16 + - 17 + - 18 + - 19 + - 20 + - 21 + - 22 + - 23 + - 24 + - 25 + - 26 + - 27 + - 28 + - 29 + - 30 + - 31 + - 32 + - 33 + - 34 + - 35 + - 36 + - 37 + - 38 + - 39 + - 40 + - 41 + - 42 + - 43 + - 44 + - 45 + - 46 + - 47 + - 48 + - 49 + - 50 + - 51 + - 52 + - 53 + - 54 + - 55 + - 56 + - 57 + - 58 + - 59 + - 60 + - 61 + - 62 + - 63 + - 64 + - 65 + - 66 + - 67 + - 68 + - 69 + - 70 + - 71 + - 72 + - 73 + - 74 + - 75 + - 76 + - 77 + - 78 + - 79 + - 80 + - 81 + - 82 + - 83 + - 84 + - 85 + - 86 + - 87 + - 88 + - 89 + - 90 + - 91 + - 92 + - 93 + - 94 + - 95 + - 96 + - 97 + - 98 + - 99 +val_dset: + demo_dset: + dataset_type: ${benchmark.name} + episodes: + - 0 + - 1 + - 2 + - 3 + - 4 + - 5 + - 6 + - 7 + - 8 + - 9 diff --git a/configs/dataset/rlbench/slide_block_to_target/all.yaml b/configs/dataset/rlbench/slide_block_to_target/all.yaml new file mode 100644 index 0000000..9470dc9 --- /dev/null +++ b/configs/dataset/rlbench/slide_block_to_target/all.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/slide_block_to_target/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/slide_block_to_target/postslide.yaml b/configs/dataset/rlbench/slide_block_to_target/postslide.yaml new file mode 100644 index 0000000..9470dc9 --- /dev/null +++ b/configs/dataset/rlbench/slide_block_to_target/postslide.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/slide_block_to_target/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/slide_block_to_target/preslide.yaml b/configs/dataset/rlbench/slide_block_to_target/preslide.yaml new file mode 100644 index 0000000..9470dc9 --- /dev/null +++ b/configs/dataset/rlbench/slide_block_to_target/preslide.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/slide_block_to_target/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/take_money_out_safe/_default.yaml b/configs/dataset/rlbench/take_money_out_safe/_default.yaml new file mode 100644 index 0000000..dfcd518 --- /dev/null +++ b/configs/dataset/rlbench/take_money_out_safe/_default.yaml @@ -0,0 +1,125 @@ +defaults: +- ../_default@_here_ +- _self_ +test_dset: + demo_dset: + dataset_type: ${benchmark.name} + episodes: null +train_dset: + demo_dset: + dataset_type: ${benchmark.name} + episodes: + - 0 + - 1 + - 2 + - 3 + - 4 + - 5 + - 6 + - 7 + - 8 + - 9 + - 10 + - 11 + - 12 + - 13 + - 14 + - 15 + - 16 + - 17 + - 18 + - 19 + - 20 + - 21 + - 22 + - 23 + - 24 + - 25 + - 26 + - 27 + - 28 + - 29 + - 30 + - 31 + - 32 + - 33 + - 34 + - 35 + - 36 + - 37 + - 38 + - 39 + - 40 + - 41 + - 42 + - 43 + - 44 + - 45 + - 46 + - 47 + - 48 + - 49 + - 50 + - 51 + - 52 + - 53 + - 54 + - 55 + - 56 + - 57 + - 58 + - 59 + - 60 + - 61 + - 62 + - 63 + - 64 + - 65 + - 66 + - 67 + - 68 + - 69 + - 70 + - 71 + - 72 + - 73 + - 74 + - 75 + - 76 + - 77 + - 78 + - 79 + - 80 + - 81 + - 82 + - 83 + - 84 + - 85 + - 86 + - 87 + - 88 + - 89 + - 90 + - 91 + - 92 + - 93 + - 94 + - 95 + - 96 + - 97 + - 98 + - 99 +val_dset: + demo_dset: + dataset_type: ${benchmark.name} + episodes: + - 0 + - 1 + - 2 + - 3 + - 4 + - 5 + - 6 + - 7 + - 8 + - 9 diff --git a/configs/dataset/rlbench/take_money_out_safe/all.yaml b/configs/dataset/rlbench/take_money_out_safe/all.yaml new file mode 100644 index 0000000..ed0a39e --- /dev/null +++ b/configs/dataset/rlbench/take_money_out_safe/all.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/take_money_out_safe/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/take_money_out_safe/grasp.yaml b/configs/dataset/rlbench/take_money_out_safe/grasp.yaml new file mode 100644 index 0000000..ed0a39e --- /dev/null +++ b/configs/dataset/rlbench/take_money_out_safe/grasp.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/take_money_out_safe/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/take_money_out_safe/lift.yaml b/configs/dataset/rlbench/take_money_out_safe/lift.yaml new file mode 100644 index 0000000..ed0a39e --- /dev/null +++ b/configs/dataset/rlbench/take_money_out_safe/lift.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/take_money_out_safe/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/take_money_out_safe/place.yaml b/configs/dataset/rlbench/take_money_out_safe/place.yaml new file mode 100644 index 0000000..ed0a39e --- /dev/null +++ b/configs/dataset/rlbench/take_money_out_safe/place.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/take_money_out_safe/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/take_money_out_safe/pregrasp.yaml b/configs/dataset/rlbench/take_money_out_safe/pregrasp.yaml new file mode 100644 index 0000000..ed0a39e --- /dev/null +++ b/configs/dataset/rlbench/take_money_out_safe/pregrasp.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/take_money_out_safe/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/_default.yaml b/configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/_default.yaml new file mode 100644 index 0000000..dfcd518 --- /dev/null +++ b/configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/_default.yaml @@ -0,0 +1,125 @@ +defaults: +- ../_default@_here_ +- _self_ +test_dset: + demo_dset: + dataset_type: ${benchmark.name} + episodes: null +train_dset: + demo_dset: + dataset_type: ${benchmark.name} + episodes: + - 0 + - 1 + - 2 + - 3 + - 4 + - 5 + - 6 + - 7 + - 8 + - 9 + - 10 + - 11 + - 12 + - 13 + - 14 + - 15 + - 16 + - 17 + - 18 + - 19 + - 20 + - 21 + - 22 + - 23 + - 24 + - 25 + - 26 + - 27 + - 28 + - 29 + - 30 + - 31 + - 32 + - 33 + - 34 + - 35 + - 36 + - 37 + - 38 + - 39 + - 40 + - 41 + - 42 + - 43 + - 44 + - 45 + - 46 + - 47 + - 48 + - 49 + - 50 + - 51 + - 52 + - 53 + - 54 + - 55 + - 56 + - 57 + - 58 + - 59 + - 60 + - 61 + - 62 + - 63 + - 64 + - 65 + - 66 + - 67 + - 68 + - 69 + - 70 + - 71 + - 72 + - 73 + - 74 + - 75 + - 76 + - 77 + - 78 + - 79 + - 80 + - 81 + - 82 + - 83 + - 84 + - 85 + - 86 + - 87 + - 88 + - 89 + - 90 + - 91 + - 92 + - 93 + - 94 + - 95 + - 96 + - 97 + - 98 + - 99 +val_dset: + demo_dset: + dataset_type: ${benchmark.name} + episodes: + - 0 + - 1 + - 2 + - 3 + - 4 + - 5 + - 6 + - 7 + - 8 + - 9 diff --git a/configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/all.yaml b/configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/all.yaml new file mode 100644 index 0000000..407a75b --- /dev/null +++ b/configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/all.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/take_umbrella_out_of_umbrella_stand/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/grasp.yaml b/configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/grasp.yaml new file mode 100644 index 0000000..407a75b --- /dev/null +++ b/configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/grasp.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/take_umbrella_out_of_umbrella_stand/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/lift.yaml b/configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/lift.yaml new file mode 100644 index 0000000..407a75b --- /dev/null +++ b/configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/lift.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/take_umbrella_out_of_umbrella_stand/_default@_here_ +- _self_ diff --git a/configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/pregasp.yaml b/configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/pregasp.yaml new file mode 100644 index 0000000..407a75b --- /dev/null +++ b/configs/dataset/rlbench/take_umbrella_out_of_umbrella_stand/pregasp.yaml @@ -0,0 +1,3 @@ +defaults: +- rlbench/take_umbrella_out_of_umbrella_stand/_default@_here_ +- _self_ diff --git a/configs/task/rlbench/pick_and_lift/phase/all.yaml b/configs/task/rlbench/pick_and_lift/phase/all.yaml new file mode 100644 index 0000000..00b66c7 --- /dev/null +++ b/configs/task/rlbench/pick_and_lift/phase/all.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: null +anchor_class: null +name: all +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/pick_and_lift/phase/final.yaml b/configs/task/rlbench/pick_and_lift/phase/final.yaml new file mode 100644 index 0000000..657caae --- /dev/null +++ b/configs/task/rlbench/pick_and_lift/phase/final.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: pick_and_lift_target +anchor_class: success_visual +name: final +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/pick_and_lift/phase/grasp.yaml b/configs/task/rlbench/pick_and_lift/phase/grasp.yaml new file mode 100644 index 0000000..8e919b3 --- /dev/null +++ b/configs/task/rlbench/pick_and_lift/phase/grasp.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: gripper +anchor_class: pick_and_lift_target +name: grasp +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/pick_and_lift/phase/lift.yaml b/configs/task/rlbench/pick_and_lift/phase/lift.yaml new file mode 100644 index 0000000..c9872e4 --- /dev/null +++ b/configs/task/rlbench/pick_and_lift/phase/lift.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: pick_and_lift_target +anchor_class: pick_and_lift_target +name: lift +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/pick_and_lift/phase/pregrasp.yaml b/configs/task/rlbench/pick_and_lift/phase/pregrasp.yaml new file mode 100644 index 0000000..5dc8b29 --- /dev/null +++ b/configs/task/rlbench/pick_and_lift/phase/pregrasp.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: gripper +anchor_class: pick_and_lift_target +name: pregrasp +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/pick_and_lift/task.yaml b/configs/task/rlbench/pick_and_lift/task.yaml new file mode 100644 index 0000000..232e35d --- /dev/null +++ b/configs/task/rlbench/pick_and_lift/task.yaml @@ -0,0 +1,6 @@ +defaults: +- phase@phases.pregrasp: pregrasp +- phase@phases.grasp: grasp +- phase@phases.lift: lift +- phase@phases.final: final +name: pick_and_lift diff --git a/configs/task/rlbench/pick_up_cup/phase/all.yaml b/configs/task/rlbench/pick_up_cup/phase/all.yaml new file mode 100644 index 0000000..00b66c7 --- /dev/null +++ b/configs/task/rlbench/pick_up_cup/phase/all.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: null +anchor_class: null +name: all +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/pick_up_cup/phase/grasp.yaml b/configs/task/rlbench/pick_up_cup/phase/grasp.yaml new file mode 100644 index 0000000..8c39536 --- /dev/null +++ b/configs/task/rlbench/pick_up_cup/phase/grasp.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: gripper +anchor_class: cup1_visual +name: grasp +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/pick_up_cup/phase/lift.yaml b/configs/task/rlbench/pick_up_cup/phase/lift.yaml new file mode 100644 index 0000000..de54588 --- /dev/null +++ b/configs/task/rlbench/pick_up_cup/phase/lift.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: cup1_visual +anchor_class: cup1_visual +name: lift +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/pick_up_cup/phase/pregrasp.yaml b/configs/task/rlbench/pick_up_cup/phase/pregrasp.yaml new file mode 100644 index 0000000..2e884eb --- /dev/null +++ b/configs/task/rlbench/pick_up_cup/phase/pregrasp.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: gripper +anchor_class: cup1_visual +name: pregrasp +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/pick_up_cup/task.yaml b/configs/task/rlbench/pick_up_cup/task.yaml new file mode 100644 index 0000000..5d021f8 --- /dev/null +++ b/configs/task/rlbench/pick_up_cup/task.yaml @@ -0,0 +1,5 @@ +defaults: +- phase@phases.pregrasp: pregrasp +- phase@phases.grasp: grasp +- phase@phases.lift: lift +name: pick_up_cup diff --git a/configs/task/rlbench/push_button/phase/all.yaml b/configs/task/rlbench/push_button/phase/all.yaml new file mode 100644 index 0000000..00b66c7 --- /dev/null +++ b/configs/task/rlbench/push_button/phase/all.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: null +anchor_class: null +name: all +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/push_button/phase/postpush.yaml b/configs/task/rlbench/push_button/phase/postpush.yaml new file mode 100644 index 0000000..4d8a27a --- /dev/null +++ b/configs/task/rlbench/push_button/phase/postpush.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: gripper +anchor_class: push_button_target +name: postpush +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/push_button/phase/prepush.yaml b/configs/task/rlbench/push_button/phase/prepush.yaml new file mode 100644 index 0000000..902f98a --- /dev/null +++ b/configs/task/rlbench/push_button/phase/prepush.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: gripper +anchor_class: push_button_target +name: prepush +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/push_button/task.yaml b/configs/task/rlbench/push_button/task.yaml new file mode 100644 index 0000000..70660c3 --- /dev/null +++ b/configs/task/rlbench/push_button/task.yaml @@ -0,0 +1,4 @@ +defaults: +- phase@phases.prepush: prepush +- phase@phases.postpush: postpush +name: push_button diff --git a/configs/task/rlbench/put_knife_on_chopping_board/phase/all.yaml b/configs/task/rlbench/put_knife_on_chopping_board/phase/all.yaml new file mode 100644 index 0000000..00b66c7 --- /dev/null +++ b/configs/task/rlbench/put_knife_on_chopping_board/phase/all.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: null +anchor_class: null +name: all +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/put_knife_on_chopping_board/phase/grasp.yaml b/configs/task/rlbench/put_knife_on_chopping_board/phase/grasp.yaml new file mode 100644 index 0000000..455425a --- /dev/null +++ b/configs/task/rlbench/put_knife_on_chopping_board/phase/grasp.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: gripper +anchor_class: knife_visual +name: grasp +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/put_knife_on_chopping_board/phase/lift.yaml b/configs/task/rlbench/put_knife_on_chopping_board/phase/lift.yaml new file mode 100644 index 0000000..f188bdf --- /dev/null +++ b/configs/task/rlbench/put_knife_on_chopping_board/phase/lift.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: knife_visual +anchor_class: knife_visual +name: lift +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/put_knife_on_chopping_board/phase/place.yaml b/configs/task/rlbench/put_knife_on_chopping_board/phase/place.yaml new file mode 100644 index 0000000..2fdba57 --- /dev/null +++ b/configs/task/rlbench/put_knife_on_chopping_board/phase/place.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: knife_visual +anchor_class: chopping_board_visual +name: place +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/put_knife_on_chopping_board/phase/pregrasp.yaml b/configs/task/rlbench/put_knife_on_chopping_board/phase/pregrasp.yaml new file mode 100644 index 0000000..ad2095b --- /dev/null +++ b/configs/task/rlbench/put_knife_on_chopping_board/phase/pregrasp.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: gripper +anchor_class: knife_visual +name: pregrasp +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/put_knife_on_chopping_board/task.yaml b/configs/task/rlbench/put_knife_on_chopping_board/task.yaml new file mode 100644 index 0000000..8bc0f24 --- /dev/null +++ b/configs/task/rlbench/put_knife_on_chopping_board/task.yaml @@ -0,0 +1,6 @@ +defaults: +- phase@phases.pregrasp: pregrasp +- phase@phases.grasp: grasp +- phase@phases.lift: lift +- phase@phases.place: place +name: put_knife_on_chopping_board diff --git a/configs/task/rlbench/put_money_in_safe/phase/all.yaml b/configs/task/rlbench/put_money_in_safe/phase/all.yaml new file mode 100644 index 0000000..00b66c7 --- /dev/null +++ b/configs/task/rlbench/put_money_in_safe/phase/all.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: null +anchor_class: null +name: all +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/put_money_in_safe/phase/grasp.yaml b/configs/task/rlbench/put_money_in_safe/phase/grasp.yaml new file mode 100644 index 0000000..c415535 --- /dev/null +++ b/configs/task/rlbench/put_money_in_safe/phase/grasp.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: gripper +anchor_class: dollar_stack +name: grasp +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/put_money_in_safe/phase/lift.yaml b/configs/task/rlbench/put_money_in_safe/phase/lift.yaml new file mode 100644 index 0000000..81efd3b --- /dev/null +++ b/configs/task/rlbench/put_money_in_safe/phase/lift.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: dollar_stack +anchor_class: dollar_stack +name: lift +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/put_money_in_safe/phase/place.yaml b/configs/task/rlbench/put_money_in_safe/phase/place.yaml new file mode 100644 index 0000000..63800f7 --- /dev/null +++ b/configs/task/rlbench/put_money_in_safe/phase/place.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: dollar_stack +anchor_class: safe_body +name: place +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/put_money_in_safe/phase/pregrasp.yaml b/configs/task/rlbench/put_money_in_safe/phase/pregrasp.yaml new file mode 100644 index 0000000..a8ae4c8 --- /dev/null +++ b/configs/task/rlbench/put_money_in_safe/phase/pregrasp.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: gripper +anchor_class: dollar_stack +name: pregrasp +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/put_money_in_safe/phase/preplace.yaml b/configs/task/rlbench/put_money_in_safe/phase/preplace.yaml new file mode 100644 index 0000000..b535df5 --- /dev/null +++ b/configs/task/rlbench/put_money_in_safe/phase/preplace.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: dollar_stack +anchor_class: safe_body +name: preplace +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/put_money_in_safe/task.yaml b/configs/task/rlbench/put_money_in_safe/task.yaml new file mode 100644 index 0000000..8b22a0e --- /dev/null +++ b/configs/task/rlbench/put_money_in_safe/task.yaml @@ -0,0 +1,7 @@ +defaults: +- phase@phases.pregrasp: pregrasp +- phase@phases.grasp: grasp +- phase@phases.lift: lift +- phase@phases.preplace: preplace +- phase@phases.place: place +name: put_money_in_safe diff --git a/configs/task/rlbench/reach_target/phase/all.yaml b/configs/task/rlbench/reach_target/phase/all.yaml new file mode 100644 index 0000000..00b66c7 --- /dev/null +++ b/configs/task/rlbench/reach_target/phase/all.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: null +anchor_class: null +name: all +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/reach_target/phase/reach.yaml b/configs/task/rlbench/reach_target/phase/reach.yaml new file mode 100644 index 0000000..022c48f --- /dev/null +++ b/configs/task/rlbench/reach_target/phase/reach.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: gripper +anchor_class: target +name: reach +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/reach_target/task.yaml b/configs/task/rlbench/reach_target/task.yaml new file mode 100644 index 0000000..98411dd --- /dev/null +++ b/configs/task/rlbench/reach_target/task.yaml @@ -0,0 +1,3 @@ +defaults: +- phase@phases.reach: reach +name: reach_target diff --git a/configs/task/rlbench/slide_block_to_target/phase/all.yaml b/configs/task/rlbench/slide_block_to_target/phase/all.yaml new file mode 100644 index 0000000..00b66c7 --- /dev/null +++ b/configs/task/rlbench/slide_block_to_target/phase/all.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: null +anchor_class: null +name: all +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/slide_block_to_target/phase/postslide.yaml b/configs/task/rlbench/slide_block_to_target/phase/postslide.yaml new file mode 100644 index 0000000..72cf4c7 --- /dev/null +++ b/configs/task/rlbench/slide_block_to_target/phase/postslide.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: gripper +anchor_class: target +name: postslide +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/slide_block_to_target/phase/preslide.yaml b/configs/task/rlbench/slide_block_to_target/phase/preslide.yaml new file mode 100644 index 0000000..a190198 --- /dev/null +++ b/configs/task/rlbench/slide_block_to_target/phase/preslide.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: gripper +anchor_class: block +name: preslide +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/slide_block_to_target/task.yaml b/configs/task/rlbench/slide_block_to_target/task.yaml new file mode 100644 index 0000000..51e261d --- /dev/null +++ b/configs/task/rlbench/slide_block_to_target/task.yaml @@ -0,0 +1,4 @@ +defaults: +- phase@phases.preslide: preslide +- phase@phases.postslide: postslide +name: slide_block_to_target diff --git a/configs/task/rlbench/take_money_out_safe/phase/all.yaml b/configs/task/rlbench/take_money_out_safe/phase/all.yaml new file mode 100644 index 0000000..00b66c7 --- /dev/null +++ b/configs/task/rlbench/take_money_out_safe/phase/all.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: null +anchor_class: null +name: all +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/take_money_out_safe/phase/grasp.yaml b/configs/task/rlbench/take_money_out_safe/phase/grasp.yaml new file mode 100644 index 0000000..9e87da5 --- /dev/null +++ b/configs/task/rlbench/take_money_out_safe/phase/grasp.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: gripper +anchor_class: dollar_stack0 +name: grasp +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/take_money_out_safe/phase/lift.yaml b/configs/task/rlbench/take_money_out_safe/phase/lift.yaml new file mode 100644 index 0000000..9c7c022 --- /dev/null +++ b/configs/task/rlbench/take_money_out_safe/phase/lift.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: dollar_stack0 +anchor_class: dollar_stack0 +name: lift +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/take_money_out_safe/phase/place.yaml b/configs/task/rlbench/take_money_out_safe/phase/place.yaml new file mode 100644 index 0000000..c8abab0 --- /dev/null +++ b/configs/task/rlbench/take_money_out_safe/phase/place.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: dollar_stack0 +anchor_class: safe_body +name: place +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/take_money_out_safe/phase/pregrasp.yaml b/configs/task/rlbench/take_money_out_safe/phase/pregrasp.yaml new file mode 100644 index 0000000..a4ee3e2 --- /dev/null +++ b/configs/task/rlbench/take_money_out_safe/phase/pregrasp.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: gripper +anchor_class: dollar_stack0 +name: pregrasp +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/take_money_out_safe/task.yaml b/configs/task/rlbench/take_money_out_safe/task.yaml new file mode 100644 index 0000000..04264d9 --- /dev/null +++ b/configs/task/rlbench/take_money_out_safe/task.yaml @@ -0,0 +1,6 @@ +defaults: +- phase@phases.pregrasp: pregrasp +- phase@phases.grasp: grasp +- phase@phases.lift: lift +- phase@phases.place: place +name: take_money_out_safe diff --git a/configs/task/rlbench/take_umbrella_out_of_umbrella_stand/phase/all.yaml b/configs/task/rlbench/take_umbrella_out_of_umbrella_stand/phase/all.yaml new file mode 100644 index 0000000..00b66c7 --- /dev/null +++ b/configs/task/rlbench/take_umbrella_out_of_umbrella_stand/phase/all.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: null +anchor_class: null +name: all +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/take_umbrella_out_of_umbrella_stand/phase/grasp.yaml b/configs/task/rlbench/take_umbrella_out_of_umbrella_stand/phase/grasp.yaml new file mode 100644 index 0000000..9817eb4 --- /dev/null +++ b/configs/task/rlbench/take_umbrella_out_of_umbrella_stand/phase/grasp.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: gripper +anchor_class: umbrella_visual +name: grasp +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/take_umbrella_out_of_umbrella_stand/phase/lift.yaml b/configs/task/rlbench/take_umbrella_out_of_umbrella_stand/phase/lift.yaml new file mode 100644 index 0000000..fe02892 --- /dev/null +++ b/configs/task/rlbench/take_umbrella_out_of_umbrella_stand/phase/lift.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: umbrella_visual +anchor_class: umbrella_visual +name: lift +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/take_umbrella_out_of_umbrella_stand/phase/pregasp.yaml b/configs/task/rlbench/take_umbrella_out_of_umbrella_stand/phase/pregasp.yaml new file mode 100644 index 0000000..9618489 --- /dev/null +++ b/configs/task/rlbench/take_umbrella_out_of_umbrella_stand/phase/pregasp.yaml @@ -0,0 +1,7 @@ +# @package task + +action_class: gripper +anchor_class: umbrella_visual +name: pregasp +softmax_temperature: 0.1 +weight_normalize: softmax diff --git a/configs/task/rlbench/take_umbrella_out_of_umbrella_stand/task.yaml b/configs/task/rlbench/take_umbrella_out_of_umbrella_stand/task.yaml new file mode 100644 index 0000000..4ebc262 --- /dev/null +++ b/configs/task/rlbench/take_umbrella_out_of_umbrella_stand/task.yaml @@ -0,0 +1,5 @@ +defaults: +- phase@phases.pregasp: pregasp +- phase@phases.grasp: grasp +- phase@phases.lift: lift +name: take_umbrella_out_of_umbrella_stand