Simpler env move near

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

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 = [

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

metasim/constants.py

@@ -43,7 +43,7 @@ class BenchmarkType(enum.Enum):
     RLAOPENDOOR = "RLAffordOpenDoor"
 
     ## SimplerEnv
-    SIMPLERENVGRASPSINGLEOPENEDCOKECAN = "SimplerEnvGraspSingleOpenedCokeCan"
+    SIMPLERENV = "SimperEnv"
 
     ## humanoid
     HUMANOIDBENCH = "HumanoidBench"