diff --git a/metasim/cfg/tasks/__init__.py b/metasim/cfg/tasks/__init__.py index af842088e..83f5220d4 100644 --- a/metasim/cfg/tasks/__init__.py +++ b/metasim/cfg/tasks/__init__.py @@ -39,6 +39,7 @@ def __get_quick_ref(): from .rlbench.close_box_cfg import CloseBoxCfg from .robosuite import SquareD0Cfg, SquareD1Cfg, SquareD2Cfg, StackD0Cfg from .simpler_env.simpler_env_grasp_opened_coke_can_cfg import SimplerEnvGraspOpenedCokeCanCfg + from .simpler_env.simpler_env_move_near import SimplerEnvMoveNearCfg # from .skillblender import G1BaseTaskCfg, H1BaseTaskCfg from .uh1 import MabaoguoCfg diff --git a/metasim/cfg/tasks/simpler_env/simpler_env_grasp_opened_coke_can_cfg.py b/metasim/cfg/tasks/simpler_env/simpler_env_grasp_opened_coke_can_cfg.py index bae444d0b..e5566d74e 100644 --- a/metasim/cfg/tasks/simpler_env/simpler_env_grasp_opened_coke_can_cfg.py +++ b/metasim/cfg/tasks/simpler_env/simpler_env_grasp_opened_coke_can_cfg.py @@ -35,7 +35,7 @@ class SimplerEnvGraspOpenedCokeCanCfg(BaseTaskCfg): # checker = BaseChecker() def __init__(self, subtask_id=0): - self.source_benchmark = BenchmarkType.SIMPLERENVGRASPSINGLEOPENEDCOKECAN + self.source_benchmark = BenchmarkType.SIMPLERENV self.task_type = TaskType.TABLETOP_MANIPULATION self.episode_length = 200 self.objects = [ diff --git a/metasim/cfg/tasks/simpler_env/simpler_env_move_near.py b/metasim/cfg/tasks/simpler_env/simpler_env_move_near.py new file mode 100644 index 000000000..1d03e8a4b --- /dev/null +++ b/metasim/cfg/tasks/simpler_env/simpler_env_move_near.py @@ -0,0 +1,108 @@ +import json +import os + +from metasim.cfg.checkers import BaseChecker +from metasim.cfg.objects import NonConvexRigidObjCfg, RigidObjCfg +from metasim.cfg.tasks.base_task_cfg import BaseTaskCfg +from metasim.constants import BenchmarkType, TaskType +from metasim.utils import configclass + +config_filepath = "roboverse_data/trajs/simpler_env/MoveNearGoogleInScene-v0/task_config.json" + +object_config_dict = { + "baked_opened_coke_can_v2": RigidObjCfg( + name="baked_opened_coke_can_v2", + urdf_path="roboverse_data/assets/simpler_env/models/baked_opened_coke_can_v2/mobility.urdf", + fix_base_link=False, + ), + "baked_opened_redbull_can_v2": RigidObjCfg( + name="baked_opened_redbull_can_v2", + urdf_path="roboverse_data/assets/simpler_env/models/baked_opened_redbull_can_v2/mobility.urdf", + fix_base_link=False, + ), + "baked_apple_v2": RigidObjCfg( + name="baked_apple_v2", + urdf_path="roboverse_data/assets/simpler_env/models/baked_apple_v2/mobility.urdf", + fix_base_link=False, + ), + "blue_plastic_bottle": RigidObjCfg( + name="blue_plastic_bottle", + urdf_path="roboverse_data/assets/simpler_env/models/blue_plastic_bottle/mobility.urdf", + fix_base_link=False, + ), + "baked_opened_pepsi_can_v2": RigidObjCfg( + name="baked_opened_pepsi_can_v2", + urdf_path="roboverse_data/assets/simpler_env/models/baked_opened_pepsi_can_v2/mobility.urdf", + fix_base_link=False, + ), + "orange": RigidObjCfg( + name="orange", + urdf_path="roboverse_data/assets/simpler_env/models/orange/mobility.urdf", + fix_base_link=False, + ), + "baked_opened_7up_can_v2": RigidObjCfg( + name="baked_opened_7up_can_v2", + urdf_path="roboverse_data/assets/simpler_env/models/baked_opened_7up_can_v2/mobility.urdf", + fix_base_link=False, + ), + "baked_opened_soda_can_v2": RigidObjCfg( + name="baked_opened_soda_can_v2", + urdf_path="roboverse_data/assets/simpler_env/models/baked_opened_soda_can_v2/mobility.urdf", + fix_base_link=False, + ), + "baked_sponge_v2": RigidObjCfg( + name="baked_sponge_v2", + urdf_path="roboverse_data/assets/simpler_env/models/baked_sponge_v2/mobility.urdf", + fix_base_link=False, + ), +} + + +@configclass +class SimplerEnvMoveNearCfg(BaseTaskCfg): + # source_benchmark = BenchmarkType.SIMPLERENVGRASPSINGLEOPENEDCOKECAN + # task_type = TaskType.TABLETOP_MANIPULATION + + # episode_length = 200 + + # objects = [ + # RigidObjCfg( + # name="opened_coke_can", urdf_path="assets/simpler_env/models/coke_can/mobility.urdf", fix_base_link=False + # ), + # NonConvexRigidObjCfg( + # name="scene", + # usd_path="assets/simpler_env/scenes/google_pick_coke_can_1_v4/google_pick_coke_can_1_v4.glb", + # urdf_path="assets/simpler_env/scenes/google_pick_coke_can_1_v4/mobility.urdf", + # fix_base_link=True, + # mesh_pose=[0, 0, 0, 0.707, 0.707, 0, 0], + # ), + # ] + # traj_filepath = MISSING + # checker = BaseChecker() + + def __init__(self, subtask_id=0): + # load json file + with open(config_filepath) as f: + config_json = json.load(f) + assert subtask_id < len(config_json) + self.config_dict = config_json[subtask_id] + self.source_benchmark = BenchmarkType.SIMPLERENV + self.task_type = TaskType.TABLETOP_MANIPULATION + self.episode_length = 200 + self.objects = [ + object_config_dict[self.config_dict["extras"]["triplet"][0]], + object_config_dict[self.config_dict["extras"]["triplet"][1]], + object_config_dict[self.config_dict["extras"]["triplet"][2]], + NonConvexRigidObjCfg( + name="scene", + usd_path="roboverse_data/assets/simpler_env/scenes/google_pick_coke_can_1_v4/google_pick_coke_can_1_v4.glb", + urdf_path="roboverse_data/assets/simpler_env/scenes/google_pick_coke_can_1_v4/mobility.urdf", + fix_base_link=True, + mesh_pose=[0, 0, 0, 0.707, 0.707, 0, 0], + ), + ] + self.traj_filepath = os.path.join( + "roboverse_data/trajs/simpler_env/MoveNearGoogleInScene-v0", self.config_dict["path"] + ) + self.checker = BaseChecker() + self.decimation = 20 diff --git a/metasim/constants.py b/metasim/constants.py index 724484303..aea9da12c 100644 --- a/metasim/constants.py +++ b/metasim/constants.py @@ -43,7 +43,7 @@ class BenchmarkType(enum.Enum): RLAOPENDOOR = "RLAffordOpenDoor" ## SimplerEnv - SIMPLERENVGRASPSINGLEOPENEDCOKECAN = "SimplerEnvGraspSingleOpenedCokeCan" + SIMPLERENV = "SimperEnv" ## humanoid HUMANOIDBENCH = "HumanoidBench"