From ecae06a79bb0fe181ff5b4994b16f3558924179c Mon Sep 17 00:00:00 2001 From: boshi-an Date: Mon, 7 Apr 2025 22:06:37 +0200 Subject: [PATCH 1/5] added simpler env move near --- metasim/cfg/tasks/__init__.py | 1 + .../simpler_env/simpler_env_move_near.py | 104 ++++++++++++++++++ 2 files changed, 105 insertions(+) create mode 100644 metasim/cfg/tasks/simpler_env/simpler_env_move_near.py 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_move_near.py b/metasim/cfg/tasks/simpler_env/simpler_env_move_near.py new file mode 100644 index 000000000..b78b8f7a3 --- /dev/null +++ b/metasim/cfg/tasks/simpler_env/simpler_env_move_near.py @@ -0,0 +1,104 @@ +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/MoveNearGoogleScene-v0/task_config.json" + +object_config_dict = { + "baked_opened_coke_can_v2": RigidObjCfg( + name="opened_coke_can", + urdf_path="roboverse_data/assets/simpler_env/models/coke_can/mobility.urdf", + fix_base_link=False, + ), + "baked_opened_redbull_can_v2": RigidObjCfg( + name="opened_redbull_can", + urdf_path="roboverse_data/assets/simpler_env/models/redbull_can/mobility.urdf", + fix_base_link=False, + ), + "baked_apple_v2": RigidObjCfg( + name="apple", + urdf_path="roboverse_data/assets/simpler_env/models/apple/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="opened_pepsi_can", + urdf_path="roboverse_data/assets/simpler_env/models/pepsi_can/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="opened_7up_can", + urdf_path="roboverse_data/assets/simpler_env/models/7up_can/mobility.urdf", + fix_base_link=False, + ), + "baked_opened_soda_can_v2": RigidObjCfg( + name="opened_soda_can", + urdf_path="roboverse_data/assets/simpler_env/models/soda_can/mobility.urdf", + fix_base_link=False, + ), + "baked_sponge_v2": RigidObjCfg( + name="sponge", + urdf_path="roboverse_data/assets/simpler_env/models/sponge/mobility.urdf", + fix_base_link=False, + ), +} + + +@configclass +class SimplerEnvMoveNear(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: + self.config_dict = json.load(f)[subtask_id] + self.source_benchmark = BenchmarkType.SIMPLERENVMOVENEAR + self.task_type = TaskType.TABLETOP_MANIPULATION + self.episode_length = 200 + self.objects = [ + object_config_dict[self.config_dict["object_name"]], + 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 From ada3a084f51f201189303c2b31efa9f080381f06 Mon Sep 17 00:00:00 2001 From: boshi-an Date: Mon, 7 Apr 2025 22:08:14 +0200 Subject: [PATCH 2/5] added constants --- metasim/constants.py | 1 + 1 file changed, 1 insertion(+) diff --git a/metasim/constants.py b/metasim/constants.py index 724484303..f174c6c8c 100644 --- a/metasim/constants.py +++ b/metasim/constants.py @@ -44,6 +44,7 @@ class BenchmarkType(enum.Enum): ## SimplerEnv SIMPLERENVGRASPSINGLEOPENEDCOKECAN = "SimplerEnvGraspSingleOpenedCokeCan" + SIMPLERENVMOVENEAR = "SimplerEnvMoveNear" ## humanoid HUMANOIDBENCH = "HumanoidBench" From aa1fa8920ffe165f6f9fc2d3a2c9d4e12d131e6a Mon Sep 17 00:00:00 2001 From: boshi-an Date: Mon, 14 Apr 2025 00:37:03 +0200 Subject: [PATCH 3/5] fixed simpler env bugs --- .../simpler_env/simpler_env_move_near.py | 36 ++++++++++--------- 1 file changed, 19 insertions(+), 17 deletions(-) diff --git a/metasim/cfg/tasks/simpler_env/simpler_env_move_near.py b/metasim/cfg/tasks/simpler_env/simpler_env_move_near.py index b78b8f7a3..9b8c33f6e 100644 --- a/metasim/cfg/tasks/simpler_env/simpler_env_move_near.py +++ b/metasim/cfg/tasks/simpler_env/simpler_env_move_near.py @@ -7,22 +7,22 @@ from metasim.constants import BenchmarkType, TaskType from metasim.utils import configclass -config_filepath = "roboverse_data/trajs/simpler_env/MoveNearGoogleScene-v0/task_config.json" +config_filepath = "roboverse_data/trajs/simpler_env/MoveNearGoogleInScene-v0/task_config.json" object_config_dict = { "baked_opened_coke_can_v2": RigidObjCfg( - name="opened_coke_can", - urdf_path="roboverse_data/assets/simpler_env/models/coke_can/mobility.urdf", + 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="opened_redbull_can", - urdf_path="roboverse_data/assets/simpler_env/models/redbull_can/mobility.urdf", + 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="apple", - urdf_path="roboverse_data/assets/simpler_env/models/apple/mobility.urdf", + 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( @@ -31,8 +31,8 @@ fix_base_link=False, ), "baked_opened_pepsi_can_v2": RigidObjCfg( - name="opened_pepsi_can", - urdf_path="roboverse_data/assets/simpler_env/models/pepsi_can/mobility.urdf", + 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( @@ -41,25 +41,25 @@ fix_base_link=False, ), "baked_opened_7up_can_v2": RigidObjCfg( - name="opened_7up_can", - urdf_path="roboverse_data/assets/simpler_env/models/7up_can/mobility.urdf", + 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="opened_soda_can", - urdf_path="roboverse_data/assets/simpler_env/models/soda_can/mobility.urdf", + 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="sponge", - urdf_path="roboverse_data/assets/simpler_env/models/sponge/mobility.urdf", + name="baked_sponge_v2", + urdf_path="roboverse_data/assets/simpler_env/models/baked_sponge_v2/mobility.urdf", fix_base_link=False, ), } @configclass -class SimplerEnvMoveNear(BaseTaskCfg): +class SimplerEnvMoveNearCfg(BaseTaskCfg): # source_benchmark = BenchmarkType.SIMPLERENVGRASPSINGLEOPENEDCOKECAN # task_type = TaskType.TABLETOP_MANIPULATION @@ -88,7 +88,9 @@ def __init__(self, subtask_id=0): self.task_type = TaskType.TABLETOP_MANIPULATION self.episode_length = 200 self.objects = [ - object_config_dict[self.config_dict["object_name"]], + 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", From 10ce02821cf497d0d664a9ad9f2d5de551c95b1c Mon Sep 17 00:00:00 2001 From: boshi-an Date: Mon, 14 Apr 2025 00:41:31 +0200 Subject: [PATCH 4/5] added subtask_id checking --- metasim/cfg/tasks/simpler_env/simpler_env_move_near.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/metasim/cfg/tasks/simpler_env/simpler_env_move_near.py b/metasim/cfg/tasks/simpler_env/simpler_env_move_near.py index 9b8c33f6e..b53d19d4a 100644 --- a/metasim/cfg/tasks/simpler_env/simpler_env_move_near.py +++ b/metasim/cfg/tasks/simpler_env/simpler_env_move_near.py @@ -83,7 +83,9 @@ class SimplerEnvMoveNearCfg(BaseTaskCfg): def __init__(self, subtask_id=0): # load json file with open(config_filepath) as f: - self.config_dict = json.load(f)[subtask_id] + config_json = json.load(f) + assert subtask_id < len(config_json) + self.config_dict = config_json[subtask_id] self.source_benchmark = BenchmarkType.SIMPLERENVMOVENEAR self.task_type = TaskType.TABLETOP_MANIPULATION self.episode_length = 200 From 806e28265f3a48b73690793a9471237f4bbe1580 Mon Sep 17 00:00:00 2001 From: boshi-an Date: Wed, 16 Apr 2025 01:27:46 +0200 Subject: [PATCH 5/5] merged constants of SimplerEnv --- .../tasks/simpler_env/simpler_env_grasp_opened_coke_can_cfg.py | 2 +- metasim/cfg/tasks/simpler_env/simpler_env_move_near.py | 2 +- metasim/constants.py | 3 +-- 3 files changed, 3 insertions(+), 4 deletions(-) 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 index b53d19d4a..1d03e8a4b 100644 --- a/metasim/cfg/tasks/simpler_env/simpler_env_move_near.py +++ b/metasim/cfg/tasks/simpler_env/simpler_env_move_near.py @@ -86,7 +86,7 @@ def __init__(self, subtask_id=0): config_json = json.load(f) assert subtask_id < len(config_json) self.config_dict = config_json[subtask_id] - self.source_benchmark = BenchmarkType.SIMPLERENVMOVENEAR + self.source_benchmark = BenchmarkType.SIMPLERENV self.task_type = TaskType.TABLETOP_MANIPULATION self.episode_length = 200 self.objects = [ diff --git a/metasim/constants.py b/metasim/constants.py index f174c6c8c..aea9da12c 100644 --- a/metasim/constants.py +++ b/metasim/constants.py @@ -43,8 +43,7 @@ class BenchmarkType(enum.Enum): RLAOPENDOOR = "RLAffordOpenDoor" ## SimplerEnv - SIMPLERENVGRASPSINGLEOPENEDCOKECAN = "SimplerEnvGraspSingleOpenedCokeCan" - SIMPLERENVMOVENEAR = "SimplerEnvMoveNear" + SIMPLERENV = "SimperEnv" ## humanoid HUMANOIDBENCH = "HumanoidBench"