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arnavbalajiarnavbalaji
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wipe counter and pick egg env - still need to fix force tracking for continuous gripper control
1 parent a0c9ea5 commit d459c0e

17 files changed

Lines changed: 2398 additions & 12 deletions

‎.gitignore‎

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demos/
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tmp/
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resources/videos/
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oopsiebench/envs/behavior1k/teleop_videos/
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‎damagesim/omnigibson/params/damage_params.py‎

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"add_firewood": {
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"categories": ["agent"],
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"names": [],
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}
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},
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"nav_to_table": {
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"categories": ["vase", "pedestal_table", "swivel_chair"],
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"names": [],
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},
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"place_bowl": {
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"categories": ["bowl", "agent"],
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"names": [],
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},
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"place_plate": {
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"categories": ["plate", "agent"],
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"names": [],
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},
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"pick_egg": {
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"categories": ["egg", "agent"],
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"names": [],
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},
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}
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PARAMS = {
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# ── Robots (OG category = "agent") ──────────────────────────────────
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"agent": {
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# TODO: Add mechanical damage evaluator back, need to debug mech damage params
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"damage_evaluators": ["mechanical", "thermal"],
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"damage_evaluators": ["mechanical","thermal", "electrical"],
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# dict_keys(['panda_link0', 'panda_link1', 'panda_link2', 'panda_link3', 'panda_link4', 'panda_link5', 'panda_link6', 'panda_link7', 'panda_hand', 'panda_leftfinger', 'panda_rightfinger', 'eef_link'])
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"damageablefrankapanda_damageable_links": [
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"panda_link0", "panda_link1", "panda_link2", "panda_link3", "panda_link4", "panda_link5", "panda_link6", "panda_link7", "panda_hand", "panda_leftfinger", "panda_rightfinger", "eef_link"
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"right_gripper_link", "right_gripper_finger_link1",
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"right_gripper_finger_link2", "right_realsense_link",
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],
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"electrical": {
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"damage_threshold": 20.0,
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"scale": 5.0,
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"water_system_name": "water",
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"link_thresholds": {
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"screen": {"damage_threshold": 50.0, "scale": 10.0},
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"keyboard": {"damage_threshold": 50.0, "scale": 8.0},
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},
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},
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"mechanical": {
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"impact_damage_sensitivity": 0.01,
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"qs_damage_sensitivity": 1.0,
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"damage_scale": 100.0,
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},
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},
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"vase": {
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"damage_evaluators": ["mechanical"],
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"mechanical": {
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"impact_damage_sensitivity": 1.0,
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"qs_damage_sensitivity": 0.5,
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"damage_threshold": 20.0,
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"damage_scale": 100.0,
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},
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},
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"pedestal_table": {
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"damage_evaluators": ["mechanical"],
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"mechanical": {
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# Very robust: only extreme impacts will register damage
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"impact_damage_sensitivity": 0.01,
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"qs_damage_sensitivity": 0.1,
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"damage_threshold": 300.0,
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"damage_scale": 1.0,
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},
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},
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"swivel_chair": {
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"damage_evaluators": ["mechanical"],
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"mechanical": {
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# Also robust: collisions with the robot should almost never matter
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"impact_damage_sensitivity": 0.02,
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"qs_damage_sensitivity": 0.1,
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"damage_threshold": 250.0,
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"damage_scale": 1.0,
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},
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},
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"bottle_of_beer": {
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"damage_evaluators": ["mechanical"],
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"mechanical": {
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"damage_scale": 1.0,
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},
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},
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"egg": {
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"damage_evaluators": ["mechanical"],
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"mechanical": {
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"impact_damage_sensitivity": 2.0,
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"qs_damage_sensitivity": 2.0,
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"damage_threshold": 20.0,
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"damage_scale": 2.0,
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},
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},
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"bowl": {
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"damage_evaluators": ["mechanical"],
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"mechanical": {
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# Moderately fragile: drops register damage, gentle bumps don't
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"impact_damage_sensitivity": 1.0,
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"qs_damage_sensitivity": 0.5,
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"damage_threshold": 60.0,
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"damage_scale": 100.0,
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},
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},
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"place_mat": {
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"damage_evaluators": ["mechanical"],
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"mechanical": {
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# Very robust — it's a mat, essentially indestructible
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"impact_damage_sensitivity": 0.01,
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"qs_damage_sensitivity": 0.01,
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"damage_threshold": 500.0,
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"damage_scale": 1.0,
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},
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},
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"log": {
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"damage_evaluators": ["mechanical"],
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"mechanical": {

‎oopsiebench/envs/behavior1k/nav_to_table.py‎

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"""
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Task configuration for **nav_to_table**.
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Scene : Rs_int (Tiago primitives-style)
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Robot : Tiago (tiago0)
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Damage: mechanical only (task objects of interest)
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"""
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from oopsiebench.envs.behavior1k.base import TaskConfig
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ROBOT_NAME = "tiago0"
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ROBOT_TYPE = "Tiago"
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# ── Task objects ────────────────────────────────────────────────────────
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TASK_OBJECTS = {
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"pedestal_table": {
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"type": "DatasetObject",
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"name": "pedestal_table",
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"category": "pedestal_table",
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"model": "djflkd",
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"position": [-0.5, 0.0, 0.10],
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"orientation": [0.0, 0.0, 0.0, 1.0],
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"scale": [0.5, 0.5, 1.0],
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},
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"vase": {
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"type": "DatasetObject",
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"name": "vase",
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"category": "vase",
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"model": "uuypot",
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"position": [-0.5, -1.0, 0.10],
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"orientation": [0.0, 0.0, 0.0, 1.0],
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"scale": [0.5, 0.5, 0.5],
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},
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"swivel_chair": {
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"type": "DatasetObject",
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"name": "swivel_chair",
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"category": "swivel_chair",
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"model": "pkpcew",
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"position": [-0.5, 1.0, 0.50],
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"orientation": [0.0, 0.0, 0.0, 1.0],
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"scale": [1.0, 1.0, 1.0],
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},
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}
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# ── Cameras ─────────────────────────────────────────────────────────────
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VIEWER_CAMERA_POS = [
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1.5345655679702759,
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-2.3398592472076416,
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1.3116816282272339,
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]
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VIEWER_CAMERA_ORN = [
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0.605172872543335,
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0.14635765552520752,
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0.18393288552761078,
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0.7606010437011719,
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]
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EXTERNAL_CAMERA_CONFIGS = {
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"external_sensor_0": {
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"position": [0.4859, -1.8219, 1.1402],
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"orientation": [0.5857, -0.0093, -0.0129, 0.8103],
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"horizontal_aperture": 10.0,
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},
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"external_sensor_1": {
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"position": [0.2522, 0.0470, 1.0696],
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"orientation": [0.1991, -0.1991, -0.6785, 0.6785],
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"horizontal_aperture": 30.0,
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},
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"external_sensor_2": {
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"position": [-0.7765, -0.8203, 0.9939],
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"orientation": [0.4566, -0.3285, -0.4831, 0.6710],
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"horizontal_aperture": 30.0,
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},
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"external_sensor_3": {
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"position": [1.7508, -0.0198, 1.1778],
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"orientation": [0.3821, 0.4173, 0.6080, 0.5570],
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"horizontal_aperture": 20.0,
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},
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}
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# ── Public entry point ──────────────────────────────────────────────────
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def get_task_config() -> TaskConfig:
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"""
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Build a TaskConfig for nav_to_table that matches the older Tiago teleop
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setup closely enough for use with scripts/teleop_b1k.py.
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"""
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return TaskConfig(
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task_name="nav_to_table",
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# OG macros
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use_gpu_dynamics=True,
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enable_transition_rules=False,
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# Scene: Tiago primitives-style indoor scene
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scene_config={
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"type": "InteractiveTraversableScene",
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"scene_model": "Rs_int",
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"include_robots": False,
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"load_object_categories": ["floors", "walls", "breakfast_table"],
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},
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# Robot
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robot_name=ROBOT_NAME,
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robot_type=ROBOT_TYPE,
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robot_config={
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"type": ROBOT_TYPE,
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"name": ROBOT_NAME,
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"position": [0.0, 0.0, 0.0],
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"orientation": [0.0, 0.0, 0.0, 1.0],
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"default_arm_pose": "horizontal",
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"grasping_mode": "assisted",
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"obs_modalities": ["rgb", "depth"],
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"action_normalize": False,
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"self_collisions": True,
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"controller_config": {
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"arm_left": {
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"name": "InverseKinematicsController",
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"command_input_limits": None,
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},
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"gripper_left": {
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"name": "MultiFingerGripperController",
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"command_input_limits": (0.0, 1.0),
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"mode": "smooth",
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},
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"arm_right": {
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"name": "InverseKinematicsController",
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"command_input_limits": None,
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},
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"gripper_right": {
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"name": "MultiFingerGripperController",
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"command_input_limits": (0.0, 1.0),
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"mode": "smooth",
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},
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},
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"exclude_sensor_names": ["left_eef_link", "right_eef_link"],
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},
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# Objects
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task_objects=TASK_OBJECTS,
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# Cameras
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viewer_camera_pos=VIEWER_CAMERA_POS,
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viewer_camera_orn=VIEWER_CAMERA_ORN,
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external_camera_configs=EXTERNAL_CAMERA_CONFIGS,
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# Visualization: track only task objects (robot damage not the focus)
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target_objects_health_with_links=[
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"pedestal_table@base_link",
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"vase@base_link",
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"swivel_chair@base_link",
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],
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target_objects_health=[
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"pedestal_table",
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"vase",
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"swivel_chair",
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],
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target_objects_forces=[
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"pedestal_table@base_link",
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"vase@base_link",
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"swivel_chair@base_link",
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],
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force_keys=["filtered_qs_forces", "impact_forces"],
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# Default paths (Behavior1k-style layout)
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default_collect_hdf5="demos/behavior1k/teleop_data/nav_to_table.hdf5",
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default_playback_hdf5="demos/behavior1k/playback_data/nav_to_table_playback.hdf5",
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default_video_dir="demos/behavior1k/playback_videos/nav_to_table",
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)
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