├── classification ├── video │ ├── models │ │ └── __init__.py │ ├── run.sh │ └── configs │ │ └── config_tsm_video.json └── image │ └── configs │ ├── config_resnet2.json │ └── config_resnet.json ├── Languages ├── 0.npy ├── 1.npy ├── 2.npy ├── 3.npy ├── 4.npy ├── 5.npy ├── 6.npy ├── 7.npy ├── 8.npy ├── 9.npy ├── 10.npy ├── 100.npy ├── 101.npy ├── 102.npy ├── 103.npy ├── 104.npy ├── 105.npy ├── 106.npy ├── 107.npy ├── 108.npy ├── 109.npy ├── 11.npy ├── 110.npy ├── 111.npy ├── 112.npy ├── 113.npy ├── 114.npy ├── 115.npy ├── 116.npy ├── 117.npy ├── 118.npy ├── 119.npy ├── 12.npy ├── 120.npy ├── 121.npy ├── 122.npy ├── 123.npy ├── 124.npy ├── 125.npy ├── 126.npy ├── 127.npy ├── 128.npy ├── 129.npy ├── 13.npy ├── 130.npy ├── 131.npy ├── 132.npy ├── 133.npy ├── 134.npy ├── 135.npy ├── 136.npy ├── 137.npy ├── 138.npy ├── 139.npy ├── 14.npy ├── 140.npy ├── 141.npy ├── 142.npy ├── 143.npy ├── 144.npy ├── 145.npy ├── 146.npy ├── 147.npy ├── 148.npy ├── 149.npy ├── 15.npy ├── 150.npy ├── 151.npy ├── 152.npy ├── 153.npy ├── 154.npy ├── 155.npy ├── 156.npy ├── 157.npy ├── 158.npy ├── 159.npy ├── 16.npy ├── 160.npy ├── 161.npy ├── 162.npy ├── 163.npy ├── 164.npy ├── 165.npy ├── 166.npy ├── 167.npy ├── 168.npy ├── 169.npy ├── 17.npy ├── 170.npy ├── 171.npy ├── 172.npy ├── 173.npy ├── 18.npy ├── 19.npy ├── 20.npy ├── 21.npy ├── 22.npy ├── 23.npy ├── 24.npy ├── 25.npy ├── 26.npy ├── 27.npy ├── 28.npy ├── 29.npy ├── 30.npy ├── 31.npy ├── 32.npy ├── 33.npy ├── 34.npy ├── 35.npy ├── 36.npy ├── 37.npy ├── 38.npy ├── 39.npy ├── 40.npy ├── 41.npy ├── 42.npy ├── 43.npy ├── 44.npy ├── 45.npy ├── 46.npy ├── 47.npy ├── 48.npy ├── 49.npy ├── 50.npy ├── 51.npy ├── 52.npy ├── 53.npy ├── 54.npy ├── 55.npy ├── 56.npy ├── 57.npy ├── 58.npy ├── 59.npy ├── 60.npy ├── 600.npy ├── 601.npy ├── 602.npy ├── 603.npy ├── 604.npy ├── 605.npy ├── 606.npy ├── 607.npy ├── 608.npy ├── 609.npy ├── 61.npy ├── 610.npy ├── 611.npy ├── 612.npy ├── 62.npy ├── 63.npy ├── 64.npy ├── 65.npy ├── 66.npy ├── 67.npy ├── 68.npy ├── 69.npy ├── 70.npy ├── 71.npy ├── 72.npy ├── 73.npy ├── 74.npy ├── 75.npy ├── 76.npy ├── 77.npy ├── 78.npy ├── 79.npy ├── 80.npy ├── 81.npy ├── 82.npy ├── 83.npy ├── 84.npy ├── 85.npy ├── 86.npy ├── 87.npy ├── 88.npy ├── 89.npy ├── 90.npy ├── 91.npy ├── 92.npy ├── 93.npy ├── 94.npy ├── 95.npy ├── 96.npy ├── 97.npy ├── 98.npy ├── 99.npy └── useBert.py ├── configs ├── init │ ├── q.npy │ ├── dq.npy │ ├── orn.npy │ ├── pos.npy │ ├── pose.npy │ └── gripper.npy ├── camera_parameters │ ├── params.npy │ ├── calibration.pckl │ ├── cameraExPar.npy │ ├── handeye.txt │ └── results.txt └── classification │ ├── pretrained │ ├── config_model1.json │ ├── config_model1_224.json │ └── config_model1_left_right.json │ └── config_model1.json ├── resources ├── textures │ ├── text1.jpg │ ├── text2.jpg │ ├── text3.jpg │ ├── text4.jpg │ ├── text5.jpg │ ├── text6.jpg │ ├── text7.jpg │ ├── text8.jpg │ ├── backup │ │ ├── 1.jpg │ │ ├── 2.jpg │ │ ├── 3.jpg │ │ ├── bg2.jpg │ │ ├── bg3.jpg │ │ ├── bg3.png │ │ ├── bg1.jpeg │ │ ├── tex256.png │ │ ├── resizeimg.jpg │ │ └── real_textures (copy) │ │ │ ├── 0.jpg │ │ │ ├── 1.jpg │ │ │ ├── 2.jpg │ │ │ └── table_texture.jpg │ ├── texture1.jpg │ ├── real_textures │ │ ├── 1.jpg │ │ └── .nfs00000000001064da00000057 │ ├── sun_textures │ │ ├── 0.jpg │ │ ├── 1.jpg │ │ ├── 10.jpg │ │ ├── 11.jpg │ │ ├── 12.jpg │ │ ├── 13.jpg │ │ ├── 14.jpg │ │ ├── 15.jpg │ │ ├── 16.jpg │ │ ├── 17.jpg │ │ ├── 18.jpg │ │ ├── 19.jpg │ │ ├── 2.jpg │ │ ├── 20.jpg │ │ ├── 21.jpg │ │ ├── 22.jpg │ │ ├── 23.jpg │ │ ├── 24.jpg │ │ ├── 25.jpg │ │ ├── 26.jpg │ │ ├── 27.jpg │ │ ├── 28.jpg │ │ ├── 29.jpg │ │ ├── 3.jpg │ │ ├── 30.jpg │ │ ├── 31.jpg │ │ ├── 32.jpg │ │ ├── 33.jpg │ │ ├── 34.jpg │ │ ├── 35.jpg │ │ ├── 36.jpg │ │ ├── 37.jpg │ │ ├── 38.jpg │ │ ├── 39.jpg │ │ ├── 4.jpg │ │ ├── 40.jpg │ │ ├── 41.jpg │ │ ├── 42.jpg │ │ ├── 43.jpg │ │ ├── 44.jpg │ │ ├── 45.jpg │ │ ├── 46.jpg │ │ ├── 47.jpg │ │ ├── 48.jpg │ │ ├── 49.jpg │ │ ├── 5.jpg │ │ ├── 50.jpg │ │ ├── 51.jpg │ │ ├── 52.jpg │ │ ├── 53.jpg │ │ ├── 54.jpg │ │ ├── 55.jpg │ │ ├── 56.jpg │ │ ├── 57.jpg │ │ ├── 58.jpg │ │ ├── 59.jpg │ │ ├── 6.jpg │ │ ├── 60.jpg │ │ ├── 61.jpg │ │ ├── 62.jpg │ │ ├── 63.jpg │ │ ├── 64.jpg │ │ ├── 65.jpg │ │ ├── 66.jpg │ │ ├── 67.jpg │ │ ├── 68.jpg │ │ ├── 69.jpg │ │ ├── 7.jpg │ │ ├── 70.jpg │ │ ├── 71.jpg │ │ ├── 72.jpg │ │ ├── 73.jpg │ │ ├── 74.jpg │ │ ├── 75.jpg │ │ ├── 76.jpg │ │ ├── 77.jpg │ │ ├── 78.jpg │ │ ├── 79.jpg │ │ ├── 8.jpg │ │ ├── 80.jpg │ │ ├── 81.jpg │ │ ├── 82.jpg │ │ ├── 83.jpg │ │ ├── 84.jpg │ │ ├── 85.jpg │ │ ├── 86.jpg │ │ ├── 87.jpg │ │ ├── 88.jpg │ │ ├── 89.jpg │ │ ├── 9.jpg │ │ ├── 90.jpg │ │ ├── 91.jpg │ │ ├── 92.jpg │ │ ├── 93.jpg │ │ ├── 94.jpg │ │ ├── 95.jpg │ │ ├── 96.jpg │ │ ├── 97.jpg │ │ ├── 98.jpg │ │ ├── 99.jpg │ │ ├── 100.jpg │ │ ├── 101.jpg │ │ ├── 102.jpg │ │ ├── 103.jpg │ │ ├── 104.jpg │ │ ├── 105.jpg │ │ ├── 106.jpg │ │ ├── 107.jpg │ │ ├── 108.jpg │ │ ├── 109.jpg │ │ ├── 110.jpg │ │ ├── 111.jpg │ │ ├── 112.jpg │ │ ├── 113.jpg │ │ ├── 114.jpg │ │ ├── 115.jpg │ │ ├── 116.jpg │ │ ├── 117.jpg │ │ ├── 118.jpg │ │ ├── 119.jpg │ │ ├── 120.jpg │ │ ├── 121.jpg │ │ ├── 122.jpg │ │ ├── 123.jpg │ │ ├── 124.jpg │ │ ├── 125.jpg │ │ ├── 126.jpg │ │ ├── 127.jpg │ │ ├── 128.jpg │ │ ├── 129.jpg │ │ ├── 130.jpg │ │ ├── 131.jpg │ │ ├── 132.jpg │ │ ├── 133.jpg │ │ ├── 134.jpg │ │ ├── 135.jpg │ │ ├── 136.jpg │ │ ├── 137.jpg │ │ ├── 138.jpg │ │ ├── 139.jpg │ │ ├── 140.jpg │ │ ├── 141.jpg │ │ ├── 142.jpg │ │ ├── 143.jpg │ │ ├── 144.jpg │ │ ├── 145.jpg │ │ ├── 146.jpg │ │ ├── 147.jpg │ │ ├── 148.jpg │ │ ├── 149.jpg │ │ ├── 150.jpg │ │ ├── 151.jpg │ │ ├── 152.jpg │ │ ├── 153.jpg │ │ ├── 154.jpg │ │ ├── 155.jpg │ │ ├── 156.jpg │ │ ├── 157.jpg │ │ ├── 158.jpg │ │ ├── 159.jpg │ │ ├── 160.jpg │ │ ├── 161.jpg │ │ ├── 162.jpg │ │ ├── 163.jpg │ │ ├── 164.jpg │ │ ├── 165.jpg │ │ ├── 166.jpg │ │ ├── 167.jpg │ │ ├── 168.jpg │ │ ├── 169.jpg │ │ ├── 170.jpg │ │ ├── 171.jpg │ │ ├── 172.jpg │ │ ├── 173.jpg │ │ ├── 174.jpg │ │ ├── 175.jpg │ │ ├── 176.jpg │ │ ├── 177.jpg │ │ ├── 178.jpg │ │ ├── 179.jpg │ │ ├── 180.jpg │ │ ├── 181.jpg │ │ ├── 182.jpg │ │ ├── 183.jpg │ │ ├── 184.jpg │ │ ├── 185.jpg │ │ ├── 186.jpg │ │ ├── 187.jpg │ │ ├── 188.jpg │ │ ├── 189.jpg │ │ ├── 190.jpg │ │ ├── 191.jpg │ │ ├── 192.jpg │ │ ├── 193.jpg │ │ ├── 194.jpg │ │ ├── 195.jpg │ │ ├── 196.jpg │ │ ├── 197.jpg │ │ ├── 198.jpg │ │ ├── 199.jpg │ │ └── 200.jpg │ ├── table_textures │ │ ├── table_texture.jpg │ │ └── .nfs0000000000106d8400000056 │ └── get_texture.py └── urdf │ ├── table │ ├── table.png │ ├── tabletop.jpg │ ├── table2.mtl │ ├── table.mtl │ ├── table2.urdf │ └── table.obj │ ├── book │ ├── meshes │ │ ├── book_top01.jpg │ │ └── book_bottom01.jpg │ ├── configuration_2017-06-01 │ │ ├── book.launch │ │ ├── book_in.yaml │ │ └── book.urdf │ ├── configuration_2017-07-30 │ │ ├── book.launch │ │ ├── book_in.yaml │ │ └── book.urdf │ ├── configuration_2017-07-31 │ │ ├── book.launch │ │ ├── book_in.yaml │ │ └── book.urdf │ └── configuration_2017-08-01 │ │ ├── book.launch │ │ ├── book_in.yaml │ │ └── book.urdf │ ├── openbox5 │ └── .openbox.urdf.swp │ ├── robotiq │ ├── visual │ │ ├── test_grid.png │ │ ├── robotiq_base_link.stl │ │ ├── robotiq_85_base_link.stl │ │ ├── robotiq_85_finger_tip.stl │ │ ├── robotiq_85_finger_link.stl │ │ ├── robotiq_85_knuckle_link.stl │ │ └── robotiq_85_inner_knuckle_link.stl │ └── collision │ │ ├── robotiq_85_base_link.stl │ │ ├── robotiq_85_finger_link.stl │ │ ├── robotiq_85_knuckle_link.stl │ │ ├── robotiq_85_finger_tip_link.stl │ │ └── robotiq_85_inner_knuckle_link.stl │ ├── obj_libs │ ├── books │ │ └── b1 │ │ │ └── .b1.urdf.swp │ ├── cups │ │ └── c1 │ │ │ └── .cup.obj.swp │ ├── bevels │ │ ├── b2 │ │ │ ├── .b1.urdf.swp │ │ │ └── b2.urdf │ │ └── b1 │ │ │ └── b1.urdf │ ├── bottles │ │ ├── b5 │ │ │ ├── .b4.urdf.swp │ │ │ └── b5.urdf │ │ ├── b1 │ │ │ ├── b1.urdf │ │ │ └── cube.obj │ │ ├── b3 │ │ │ ├── b3.urdf │ │ │ └── cube.obj │ │ ├── b4 │ │ │ ├── b4.urdf │ │ │ └── cube.obj │ │ ├── b7 │ │ │ ├── b7.urdf │ │ │ └── cube.obj │ │ ├── b8 │ │ │ ├── b8.urdf │ │ │ └── cube.obj │ │ ├── b2 │ │ │ ├── b2.urdf │ │ │ └── cube.obj │ │ └── b6 │ │ │ ├── b6.urdf │ │ │ └── cube.obj │ ├── drawers │ │ ├── d4 │ │ │ └── .d4.urdf.swp │ │ ├── d5 │ │ │ └── .d5.urdf.swp │ │ ├── d6 │ │ │ └── .d4.urdf.swp │ │ ├── d7 │ │ │ └── .d5.urdf.swp │ │ ├── d2 │ │ │ └── d2.urdf │ │ └── d3 │ │ │ └── d3.urdf │ ├── cubes │ │ ├── c1 │ │ │ ├── cube.mtl │ │ │ ├── cube_small.urdf │ │ │ └── cube.obj │ │ ├── c4 │ │ │ └── c4.urdf │ │ ├── c3 │ │ │ └── c3.urdf │ │ └── c2 │ │ │ └── c2.urdf │ ├── boxes │ │ └── boxHole │ │ │ └── b1.urdf │ ├── bottle_caps │ │ └── c1 │ │ │ └── c1.urdf │ ├── marbles │ │ └── m1 │ │ │ └── m1.urdf │ └── cylinders │ │ └── c1 │ │ └── c1.urdf │ ├── robotiq_2f_85 │ └── visual │ │ ├── robotiq_3f.jpg │ │ └── robotiq_arg2f_85_finger_tip.obj │ ├── openbox │ ├── model.config │ ├── openbox_convex_piece_15.obj │ ├── openbox_convex_piece_14.obj │ ├── openbox_convex_piece_8.obj │ ├── openbox_convex_piece_11.obj │ ├── openbox_convex_piece_2.obj │ ├── openbox_convex_piece_12.obj │ ├── openbox_convex_piece_0.obj │ ├── openbox_convex_piece_10.obj │ ├── openbox_convex_piece_17.obj │ ├── openbox_convex_piece_19.obj │ ├── openbox_convex_piece_5.obj │ ├── openbox_convex_piece_6.obj │ ├── openbox_convex_piece_7.obj │ ├── openbox_convex_piece_1.obj │ ├── openbox_convex_piece_13.obj │ ├── openbox_convex_piece_16.obj │ ├── openbox_convex_piece_3.obj │ ├── openbox_convex_piece_4.obj │ ├── openbox_convex_piece_9.obj │ └── openbox_convex_piece_18.obj │ ├── openbox2 │ ├── model.config │ ├── openbox_convex_piece_15.obj │ ├── openbox_convex_piece_14.obj │ ├── openbox_convex_piece_8.obj │ ├── openbox_convex_piece_11.obj │ ├── openbox_convex_piece_2.obj │ ├── openbox_convex_piece_12.obj │ ├── openbox_convex_piece_0.obj │ ├── openbox_convex_piece_19.obj │ ├── openbox_convex_piece_6.obj │ ├── openbox_convex_piece_7.obj │ ├── openbox_convex_piece_1.obj │ ├── openbox_convex_piece_10.obj │ ├── openbox_convex_piece_13.obj │ ├── 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/resources/urdf/robotiq/collision/robotiq_85_inner_knuckle_link.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/stanford-iprl-lab/Concept2Robot/HEAD/resources/urdf/robotiq/collision/robotiq_85_inner_knuckle_link.stl -------------------------------------------------------------------------------- /configs/camera_parameters/handeye.txt: -------------------------------------------------------------------------------- 1 | -0.068767 -0.779319 0.622843 -0.091203 2 | -0.996817 0.078917 -0.011315 0.042279 3 | -0.040335 -0.621638 -0.782265 0.893680 4 | 0.000000 0.000000 0.000000 1.000000 5 | -------------------------------------------------------------------------------- /resources/urdf/openbox/model.config: -------------------------------------------------------------------------------- 1 | openbox1.0openbox.urdftrimesh 3.0.14blank@blank.blankopenbox 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-0.999207841381,-0.0249105470725,0.0310347284044,0.0338917729224 3 | -0.0299349127674,-0.0433713657528,-0.998610447387,-0.0132999444584 4 | 0.0,0.0,0.0,1.0 5 | -------------------------------------------------------------------------------- /resources/urdf/openbox/openbox_convex_piece_15.obj: -------------------------------------------------------------------------------- 1 | v 264.27502400 -28.62231400 133.08891300 2 | v 264.27502400 -317.04095500 133.08891300 3 | v -277.24566700 -28.62231400 133.08891300 4 | v -277.24566700 -317.04095500 133.08891300 5 | f 1 4 2 6 | f 4 1 2 7 | f 3 1 4 8 | f 1 3 4 -------------------------------------------------------------------------------- /resources/urdf/openbox2/openbox_convex_piece_15.obj: -------------------------------------------------------------------------------- 1 | v 264.27502400 -28.62231400 133.08891300 2 | v 264.27502400 -317.04095500 133.08891300 3 | v -277.24566700 -28.62231400 133.08891300 4 | v -277.24566700 -317.04095500 133.08891300 5 | f 1 4 2 6 | f 4 1 2 7 | f 3 1 4 8 | f 1 3 4 -------------------------------------------------------------------------------- /resources/urdf/objmodels/nut.mtl: -------------------------------------------------------------------------------- 1 | # 2 | ## Alias OBJ Material File 3 | # Exported from SketchUp, (c) 2000-2012 Trimble Navigation Limited 4 | 5 | newmtl Color_001 6 | Ka 0.000000 0.000000 0.000000 7 | Kd 0.886275 0.886275 0.886275 8 | Ks 0.330000 0.330000 0.330000 9 | 10 | -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- 1 | [submodule "external/something-something-v2-baseline.git"] 2 | path = external/something-something-v2-baseline.git 3 | url = https://github.com/TwentyBN/something-something-v2-baseline.git 4 | [submodule "external/bullet3"] 5 | path = external/bullet3 6 | url = https://github.com/linsats/bullet3.git 7 | -------------------------------------------------------------------------------- /rl/train_5.sh: -------------------------------------------------------------------------------- 1 | python3 run.py\ 2 | --task_id 5\ 3 | --exp_name "without_force_goal_only"\ 4 | --gui \ 5 | --stage train\ 6 | --batch_size 64\ 7 | --action_penalty 0.2\ 8 | --start_learning_episode 1000\ 9 | --comment "action_penalty_0.2_critic_goal_only" 10 | -------------------------------------------------------------------------------- /resources/urdf/openbox/openbox_convex_piece_14.obj: -------------------------------------------------------------------------------- 1 | v -271.36013800 153.82876600 127.20339200 2 | v -277.24450700 -28.60445800 127.20339200 3 | v -277.24450700 -28.60445800 121.31729900 4 | v -277.24450700 153.82876600 121.31729900 5 | v -265.71810600 -24.84787000 121.43850300 6 | f 4 3 2 7 | f 5 3 4 8 | f 1 5 4 9 | f 1 4 2 10 | f 5 1 2 11 | f 3 5 2 -------------------------------------------------------------------------------- /resources/urdf/plane.mtl: -------------------------------------------------------------------------------- 1 | newmtl Material 2 | Ns 10.0000 3 | Ni 1.5000 4 | d 1.0000 5 | Tr 0.0000 6 | Tf 1.0000 1.0000 1.0000 7 | illum 2 8 | Ka 0.0000 0.0000 0.0000 9 | Kd 0.5880 0.5880 0.5880 10 | Ks 0.0000 0.0000 0.0000 11 | Ke 0.0000 0.0000 0.0000 12 | map_Ka cube.tga 13 | map_Kd checker_blue.png 14 | 15 | 16 | -------------------------------------------------------------------------------- /resources/urdf/table/table.mtl: -------------------------------------------------------------------------------- 1 | newmtl table 2 | Ns 10.0000 3 | Ni 1.5000 4 | d 1.0000 5 | Tr 0.0000 6 | Tf 1.0000 1.0000 1.0000 7 | illum 2 8 | Ka 0.0000 0.0000 0.0000 9 | Kd 0.5880 0.5880 0.5880 10 | Ks 0.0000 0.0000 0.0000 11 | Ke 0.0000 0.0000 0.0000 12 | map_Ka table.tga 13 | map_Kd table.png 14 | 15 | 16 | 17 | 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/resources/urdf/book/configuration_2017-06-01/book_in.yaml: -------------------------------------------------------------------------------- 1 | name: book 2 | base_marker: "/CreditCardWith4Markers" 3 | link_name_prefix: "rb" 4 | link_ids: {4: "0", 2: "1"} 5 | joints: 6 | - {rb1_id: 4, rb2_id: 2, type: REVOLUTE} 7 | meshes: {"rb0": "book/meshes/book_bottom.dae", "rb1": "book/meshes/book_top.dae"} 8 | mesh_poses: {"rb0": "", "rb1": ""} 9 | -------------------------------------------------------------------------------- /resources/urdf/book/configuration_2017-07-30/book_in.yaml: -------------------------------------------------------------------------------- 1 | name: book 2 | base_marker: "/CreditCardWith4Markers" 3 | link_name_prefix: "rb" 4 | link_ids: {4: "0", 2: "1"} 5 | joints: 6 | - {rb1_id: 4, rb2_id: 2, type: REVOLUTE} 7 | meshes: {"rb0": "book/meshes/book_bottom.dae", "rb1": "book/meshes/book_top.dae"} 8 | mesh_poses: {"rb0": "", "rb1": ""} 9 | -------------------------------------------------------------------------------- /resources/urdf/book/configuration_2017-07-31/book_in.yaml: -------------------------------------------------------------------------------- 1 | name: book 2 | base_marker: "/CreditCardWith4Markers" 3 | link_name_prefix: "rb" 4 | link_ids: {4: "0", 2: "1"} 5 | joints: 6 | - {rb1_id: 4, rb2_id: 2, type: REVOLUTE} 7 | meshes: {"rb0": "book/meshes/book_bottom.dae", "rb1": "book/meshes/book_top.dae"} 8 | mesh_poses: {"rb0": "", "rb1": ""} 9 | -------------------------------------------------------------------------------- /resources/urdf/book/configuration_2017-08-01/book_in.yaml: -------------------------------------------------------------------------------- 1 | name: book 2 | base_marker: "/CreditCardWith4Markers" 3 | link_name_prefix: "rb" 4 | link_ids: {4: "0", 2: "1"} 5 | joints: 6 | - {rb1_id: 4, rb2_id: 2, type: REVOLUTE} 7 | meshes: {"rb0": "book/meshes/book_bottom.dae", "rb1": 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121.31729100 5 | v 258.26095700 186.79593800 -146.50000000 6 | v 258.18489200 -24.84787000 116.62473800 7 | v 258.18489200 -24.84787000 -144.75050100 8 | v 246.49495500 -24.84787000 124.11811600 9 | v 246.48183000 191.65882200 -146.50000000 10 | f 2 5 9 11 | f 1 3 5 12 | f 1 5 7 13 | f 8 1 7 14 | f 6 8 7 15 | f 8 6 2 16 | f 4 8 2 17 | f 7 5 2 18 | f 6 7 2 19 | f 3 1 9 20 | f 5 3 9 21 | f 1 8 9 22 | f 8 4 9 23 | f 4 2 9 -------------------------------------------------------------------------------- /resources/urdf/openbox2/openbox_convex_piece_18.obj: -------------------------------------------------------------------------------- 1 | v 246.82075400 -24.84787000 -144.75050100 2 | v 258.32309000 187.94538900 119.80328300 3 | v 246.74468900 186.79593800 -146.50000000 4 | v 252.50282300 189.16317700 121.31729100 5 | v 258.26095700 186.79593800 -146.50000000 6 | v 258.18489200 -24.84787000 116.62473800 7 | v 258.18489200 -24.84787000 -144.75050100 8 | v 246.49495500 -24.84787000 124.11811600 9 | v 246.48183000 191.65882200 -146.50000000 10 | f 2 5 9 11 | f 1 3 5 12 | f 1 5 7 13 | f 8 1 7 14 | f 6 8 7 15 | f 8 6 2 16 | f 4 8 2 17 | f 7 5 2 18 | f 6 7 2 19 | f 3 1 9 20 | f 5 3 9 21 | f 1 8 9 22 | f 8 4 9 23 | f 4 2 9 -------------------------------------------------------------------------------- /simulation/env_122.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | import time 3 | import math 4 | from datetime import datetime 5 | from time import sleep 6 | import numpy as np 7 | import random 8 | import cv2 9 | import os 10 | import argparse 11 | import torch 12 | 13 | import sys 14 | sys.path.append('./') 15 | 16 | from env_22 import Engine22 17 | from utils_env import get_view,safe_path,cut_frame,point2traj,get_gripper_pos,backup_code 18 | 19 | 20 | class Engine122(Engine22): 21 | def __init__(self, worker_id, opti, p_id, taskId=5, maxSteps=15, n_dmps=3, cReward=True): 22 | super(Engine122,self).__init__(worker_id, opti, p_id, taskId=taskId, maxSteps=maxSteps, n_dmps=n_dmps, cReward=cReward) 23 | self.opti = opti 24 | 25 | -------------------------------------------------------------------------------- /resources/urdf/obj_libs/cubes/c4/c4.urdf: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /simulation/env_160.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | import time 3 | import math 4 | from datetime import datetime 5 | from time import sleep 6 | import numpy as np 7 | import random 8 | import cv2 9 | import os 10 | import argparse 11 | import torch 12 | 13 | import sys 14 | sys.path.append('./Eval') 15 | sys.path.append('./') 16 | 17 | from env_56 import Engine56 18 | from utils_env import get_view,safe_path,cut_frame,point2traj,get_gripper_pos,backup_code 19 | 20 | class Engine160(Engine56): 21 | def __init__(self, worker_id, opti, p_id, taskId=5, maxSteps=15, n_dmps=3, cReward=True): 22 | super(Engine160,self).__init__(worker_id, opti, p_id, taskId=taskId, maxSteps=maxSteps, n_dmps=n_dmps, cReward=cReward) 23 | self.opti = opti 24 | 25 | -------------------------------------------------------------------------------- /resources/urdf/obj_libs/cubes/c3/c3.urdf: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /environment.yml: -------------------------------------------------------------------------------- 1 | name: concept2robot 2 | channels: 3 | - defaults 4 | dependencies: 5 | - _libgcc_mutex=0.1=main 6 | - ca-certificates=2020.7.22=0 7 | - certifi=2020.6.20=py36_0 8 | - ld_impl_linux-64=2.33.1=h53a641e_7 9 | - libedit=3.1.20191231=h14c3975_1 10 | - libffi=3.3=he6710b0_2 11 | - libgcc-ng=9.1.0=hdf63c60_0 12 | - libstdcxx-ng=9.1.0=hdf63c60_0 13 | - ncurses=6.2=he6710b0_1 14 | - openssl=1.1.1g=h7b6447c_0 15 | - pip=20.2.2=py36_0 16 | - python=3.6.12=hcff3b4d_2 17 | - readline=8.0=h7b6447c_0 18 | - setuptools=49.6.0=py36_0 19 | - sqlite=3.33.0=h62c20be_0 20 | - tk=8.6.10=hbc83047_0 21 | - wheel=0.35.1=py_0 22 | - xz=5.2.5=h7b6447c_0 23 | - zlib=1.2.11=h7b6447c_3 24 | prefix: /juno/u/lins2/anaconda3/envs/concept2robot 25 | 26 | -------------------------------------------------------------------------------- /resources/urdf/obj_libs/cubes/c2/c2.urdf: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /resources/urdf/obj_libs/cubes/c1/cube_small.urdf: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /simulation/env_171.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | 3 | import pybullet as p 4 | import time 5 | import math 6 | from datetime import datetime 7 | from time import sleep 8 | import numpy as np 9 | import random 10 | import cv2 11 | import os 12 | import argparse 13 | import torch 14 | 15 | import sys 16 | sys.path.append('./Eval') 17 | sys.path.append('./') 18 | 19 | from env_121 import Engine121 20 | from utils_env import get_view,safe_path,cut_frame,point2traj,get_gripper_pos,backup_code 21 | 22 | 23 | class Engine171(Engine121): 24 | def __init__(self, worker_id, opti, p_id, taskId=5, maxSteps=15, n_dmps=3, cReward=True): 25 | super(Engine171,self).__init__(worker_id, opti, p_id, taskId=taskId, maxSteps=maxSteps, n_dmps=n_dmps, cReward=cReward) 26 | self.opti = opti 27 | 28 | 29 | -------------------------------------------------------------------------------- /simulation/env_158.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | import time 3 | import math 4 | from datetime import datetime 5 | from time import sleep 6 | import numpy as np 7 | import random 8 | import cv2 9 | import os 10 | import argparse 11 | import torch 12 | 13 | from scipy.spatial.transform import Rotation as R 14 | 15 | import sys 16 | sys.path.append('./Eval') 17 | sys.path.append('./') 18 | 19 | from env_57 import Engine57 20 | from utils_env import get_view,safe_path,cut_frame,point2traj,get_gripper_pos,backup_code 21 | 22 | 23 | class Engine158(Engine57): 24 | def __init__(self, worker_id, opti, p_id, taskId=5, maxSteps=15, n_dmps=3, cReward=True): 25 | super(Engine158,self).__init__(worker_id, opti, p_id, taskId=taskId, maxSteps=maxSteps, n_dmps=n_dmps, cReward=cReward) 26 | self.opti = opti 27 | 28 | -------------------------------------------------------------------------------- /resources/urdf/plane.urdf: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /classification/video/configs/config_tsm_video.json: -------------------------------------------------------------------------------- 1 | { 2 | "model_name": "model_tsm_video", 3 | "output_dir": "../../models/tsm_video/TSM_somethingv2_RGB_resnet50_shift8_blockres_avg_segment8_e45/", 4 | 5 | "input_mode": "video", 6 | 7 | "num_workers": 5, 8 | 9 | "num_classes": 174, 10 | "batch_size": 30, 11 | "clip_size": 72, 12 | 13 | "nclips_train": 1, 14 | "nclips_val": 1, 15 | 16 | "upscale_factor_train": 1.0, 17 | "upscale_factor_eval": 1.0, 18 | 19 | "step_size_train": 1, 20 | "step_size_val": 1, 21 | 22 | "lr": 0.008, 23 | "last_lr": 0.00001, 24 | "momentum": 0.9, 25 | "weight_decay": 0.00001, 26 | "num_epochs": -1, 27 | "print_freq": 100, 28 | 29 | "input_spatial_size": 224, 30 | 31 | "column_units": 512, 32 | "save_features": true 33 | } 34 | -------------------------------------------------------------------------------- /resources/textures/get_texture.py: -------------------------------------------------------------------------------- 1 | import cv2 2 | import glob 3 | 4 | sun_data_path = '/scr1/workspace/dataset/sun/SUN2012/Images' 5 | 6 | def resize(filename='bg3.png',output_name=None): 7 | W = 256. 8 | oriimg = cv2.imread(filename) 9 | height, width, depth = oriimg.shape 10 | imgScale = W/width 11 | newX,newY = oriimg.shape[1]*imgScale, oriimg.shape[0]*imgScale 12 | newimg = cv2.resize(oriimg,(int(newX),int(newX))) 13 | if output_name is not None: 14 | cv2.imwrite(output_name,newimg) 15 | else: 16 | cv2.imwrite (filename, newimg) 17 | 18 | if __name__ == '__main__': 19 | cut_ratio = 21 20 | for i,file in enumerate(glob.glob(sun_data_path+'/*/*/*.jpg')): 21 | if i%cut_ratio==1: 22 | output = './sun_textures/{}.jpg'.format (int(i/cut_ratio)) 23 | resize(file,output) 24 | print(i) -------------------------------------------------------------------------------- /resources/urdf/obj_libs/bottles/b1/b1.urdf: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /resources/urdf/obj_libs/bottles/b3/b3.urdf: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /resources/urdf/obj_libs/bottles/b4/b4.urdf: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /resources/urdf/obj_libs/bottles/b7/b7.urdf: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /resources/urdf/obj_libs/bottles/b8/b8.urdf: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /resources/urdf/obj_libs/bottles/b2/b2.urdf: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /resources/urdf/obj_libs/bottles/b6/b6.urdf: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /resources/urdf/obj_libs/boxes/boxHole/b1.urdf: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /resources/urdf/obj_libs/bottle_caps/c1/c1.urdf: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /resources/urdf/obj_libs/drawers/d2/d2.urdf: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /resources/urdf/obj_libs/bottles/b5/b5.urdf: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /resources/urdf/obj_libs/drawers/d3/d3.urdf: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /resources/urdf/table/table2.urdf: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /simulation/env_45.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | import time 3 | import math 4 | from datetime import datetime 5 | from time import sleep 6 | import numpy as np 7 | import random 8 | import cv2 9 | import os 10 | import argparse 11 | import torch 12 | 13 | import sys 14 | sys.path.append('./Eval') 15 | sys.path.append('./') 16 | 17 | from env_43 import Engine43 18 | from utils_env import get_view,safe_path,cut_frame,point2traj,get_gripper_pos,backup_code 19 | 20 | class Engine45(Engine43): 21 | def __init__(self, worker_id, opti, p_id, taskId=5, maxSteps=15, n_dmps=3, cReward=True): 22 | super(Engine45,self).__init__(worker_id, opti, p_id, taskId=taskId, maxSteps=maxSteps, n_dmps=n_dmps, cReward=cReward) 23 | self.opti = opti 24 | 25 | def get_success(self,seg=None): 26 | obj_pos = np.array(self.p.getBasePositionAndOrientation(self.obj_id)[0]) 27 | if obj_pos[2] > self.height + 0.05: 28 | return True 29 | else: 30 | return False 31 | 32 | -------------------------------------------------------------------------------- /simulation/env_42.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | import time 3 | import math 4 | from datetime import datetime 5 | from time import sleep 6 | import numpy as np 7 | import random 8 | import cv2 9 | import os 10 | import argparse 11 | import torch 12 | 13 | import sys 14 | sys.path.append('./Eval') 15 | sys.path.append('./') 16 | 17 | from env_40 import Engine40 18 | from utils_env import get_view,safe_path,cut_frame,point2traj,get_gripper_pos,backup_code 19 | 20 | class Engine42(Engine40): 21 | def __init__(self, worker_id, opti, p_id, taskId=5, maxSteps=15, n_dmps=3, cReward=True): 22 | super(Engine42,self).__init__(worker_id, opti, p_id, taskId=taskId, maxSteps=maxSteps, n_dmps=n_dmps, cReward=cReward) 23 | self.opti = opti 24 | 25 | def get_success(self,seg=None): 26 | cur_obj = np.array(self.p.getBasePositionAndOrientation(self.obj_id)[0]) 27 | dist = np.linalg.norm(cur_obj - self.box_pos) 28 | if dist < self.dist - 0.05: 29 | return True 30 | else: 31 | return False 32 | 33 | -------------------------------------------------------------------------------- /resources/urdf/table/table.obj: -------------------------------------------------------------------------------- 1 | # table.obj 2 | # 3 | 4 | o table 5 | mtllib table.mtl 6 | 7 | v -0.500000 -0.500000 0.500000 8 | v 0.500000 -0.500000 0.500000 9 | v -0.500000 0.500000 0.500000 10 | v 0.500000 0.500000 0.500000 11 | v -0.500000 0.500000 -0.500000 12 | v 0.500000 0.500000 -0.500000 13 | v -0.500000 -0.500000 -0.500000 14 | v 0.500000 -0.500000 -0.500000 15 | 16 | vt 0.000000 0.000000 17 | vt 1.000000 0.000000 18 | vt 0.000000 1.000000 19 | vt 1.000000 1.000000 20 | 21 | vn 0.000000 0.000000 1.000000 22 | vn 0.000000 1.000000 0.000000 23 | vn 0.000000 0.000000 -1.000000 24 | vn 0.000000 -1.000000 0.000000 25 | vn 1.000000 0.000000 0.000000 26 | vn -1.000000 0.000000 0.000000 27 | 28 | g table 29 | usemtl table 30 | s 1 31 | f 1/1/1 2/2/1 3/3/1 32 | f 3/3/1 2/2/1 4/4/1 33 | s 2 34 | f 3/1/2 4/2/2 5/3/2 35 | f 5/3/2 4/2/2 6/4/2 36 | s 3 37 | f 5/4/3 6/3/3 7/2/3 38 | f 7/2/3 6/3/3 8/1/3 39 | s 4 40 | f 7/1/4 8/2/4 1/3/4 41 | f 1/3/4 8/2/4 2/4/4 42 | s 5 43 | f 2/1/5 8/2/5 4/3/5 44 | f 4/3/5 8/2/5 6/4/5 45 | s 6 46 | f 7/1/6 1/2/6 5/3/6 47 | f 5/3/6 1/2/6 3/4/6 48 | 49 | -------------------------------------------------------------------------------- /resources/urdf/obj_libs/cubes/c1/cube.obj: -------------------------------------------------------------------------------- 1 | # cube.obj 2 | # 3 | 4 | o cube 5 | mtllib cube.mtl 6 | 7 | v -0.500000 -0.500000 0.500000 8 | v 0.500000 -0.500000 0.500000 9 | v -0.500000 0.500000 0.500000 10 | v 0.500000 0.500000 0.500000 11 | v -0.500000 0.500000 -0.500000 12 | v 0.500000 0.500000 -0.500000 13 | v -0.500000 -0.500000 -0.500000 14 | v 0.500000 -0.500000 -0.500000 15 | 16 | vt 0.000000 0.000000 17 | vt 1.000000 0.000000 18 | vt 0.000000 1.000000 19 | vt 1.000000 1.000000 20 | 21 | vn 0.000000 0.000000 1.000000 22 | vn 0.000000 1.000000 0.000000 23 | vn 0.000000 0.000000 -1.000000 24 | vn 0.000000 -1.000000 0.000000 25 | vn 1.000000 0.000000 0.000000 26 | vn -1.000000 0.000000 0.000000 27 | 28 | g cube 29 | usemtl cube 30 | s 1 31 | f 1/1/1 2/2/1 3/3/1 32 | f 3/3/1 2/2/1 4/4/1 33 | s 2 34 | f 3/1/2 4/2/2 5/3/2 35 | f 5/3/2 4/2/2 6/4/2 36 | s 3 37 | f 5/4/3 6/3/3 7/2/3 38 | f 7/2/3 6/3/3 8/1/3 39 | s 4 40 | f 7/1/4 8/2/4 1/3/4 41 | f 1/3/4 8/2/4 2/4/4 42 | s 5 43 | f 2/1/5 8/2/5 4/3/5 44 | f 4/3/5 8/2/5 6/4/5 45 | s 6 46 | f 7/1/6 1/2/6 5/3/6 47 | f 5/3/6 1/2/6 3/4/6 48 | 49 | -------------------------------------------------------------------------------- /resources/urdf/obj_libs/bottles/b1/cube.obj: -------------------------------------------------------------------------------- 1 | # cube.obj 2 | # 3 | 4 | o cube 5 | mtllib cube.mtl 6 | 7 | v -0.500000 -0.500000 0.500000 8 | v 0.500000 -0.500000 0.500000 9 | v -0.500000 0.500000 0.500000 10 | v 0.500000 0.500000 0.500000 11 | v -0.500000 0.500000 -0.500000 12 | v 0.500000 0.500000 -0.500000 13 | v -0.500000 -0.500000 -0.500000 14 | v 0.500000 -0.500000 -0.500000 15 | 16 | vt 0.000000 0.000000 17 | vt 1.000000 0.000000 18 | vt 0.000000 1.000000 19 | vt 1.000000 1.000000 20 | 21 | vn 0.000000 0.000000 1.000000 22 | vn 0.000000 1.000000 0.000000 23 | vn 0.000000 0.000000 -1.000000 24 | vn 0.000000 -1.000000 0.000000 25 | vn 1.000000 0.000000 0.000000 26 | vn -1.000000 0.000000 0.000000 27 | 28 | g cube 29 | usemtl cube 30 | s 1 31 | f 1/1/1 2/2/1 3/3/1 32 | f 3/3/1 2/2/1 4/4/1 33 | s 2 34 | f 3/1/2 4/2/2 5/3/2 35 | f 5/3/2 4/2/2 6/4/2 36 | s 3 37 | f 5/4/3 6/3/3 7/2/3 38 | f 7/2/3 6/3/3 8/1/3 39 | s 4 40 | f 7/1/4 8/2/4 1/3/4 41 | f 1/3/4 8/2/4 2/4/4 42 | s 5 43 | f 2/1/5 8/2/5 4/3/5 44 | f 4/3/5 8/2/5 6/4/5 45 | s 6 46 | f 7/1/6 1/2/6 5/3/6 47 | f 5/3/6 1/2/6 3/4/6 48 | 49 | -------------------------------------------------------------------------------- /resources/urdf/obj_libs/bottles/b2/cube.obj: -------------------------------------------------------------------------------- 1 | # cube.obj 2 | # 3 | 4 | o cube 5 | mtllib cube.mtl 6 | 7 | v -0.500000 -0.500000 0.500000 8 | v 0.500000 -0.500000 0.500000 9 | v -0.500000 0.500000 0.500000 10 | v 0.500000 0.500000 0.500000 11 | v -0.500000 0.500000 -0.500000 12 | v 0.500000 0.500000 -0.500000 13 | v -0.500000 -0.500000 -0.500000 14 | v 0.500000 -0.500000 -0.500000 15 | 16 | vt 0.000000 0.000000 17 | vt 1.000000 0.000000 18 | vt 0.000000 1.000000 19 | vt 1.000000 1.000000 20 | 21 | vn 0.000000 0.000000 1.000000 22 | vn 0.000000 1.000000 0.000000 23 | vn 0.000000 0.000000 -1.000000 24 | vn 0.000000 -1.000000 0.000000 25 | vn 1.000000 0.000000 0.000000 26 | vn -1.000000 0.000000 0.000000 27 | 28 | g cube 29 | usemtl cube 30 | s 1 31 | f 1/1/1 2/2/1 3/3/1 32 | f 3/3/1 2/2/1 4/4/1 33 | s 2 34 | f 3/1/2 4/2/2 5/3/2 35 | f 5/3/2 4/2/2 6/4/2 36 | s 3 37 | f 5/4/3 6/3/3 7/2/3 38 | f 7/2/3 6/3/3 8/1/3 39 | s 4 40 | f 7/1/4 8/2/4 1/3/4 41 | f 1/3/4 8/2/4 2/4/4 42 | s 5 43 | f 2/1/5 8/2/5 4/3/5 44 | f 4/3/5 8/2/5 6/4/5 45 | s 6 46 | f 7/1/6 1/2/6 5/3/6 47 | f 5/3/6 1/2/6 3/4/6 48 | 49 | -------------------------------------------------------------------------------- /resources/urdf/obj_libs/bottles/b3/cube.obj: -------------------------------------------------------------------------------- 1 | # cube.obj 2 | # 3 | 4 | o cube 5 | mtllib cube.mtl 6 | 7 | v -0.500000 -0.500000 0.500000 8 | v 0.500000 -0.500000 0.500000 9 | v -0.500000 0.500000 0.500000 10 | v 0.500000 0.500000 0.500000 11 | v -0.500000 0.500000 -0.500000 12 | v 0.500000 0.500000 -0.500000 13 | v -0.500000 -0.500000 -0.500000 14 | v 0.500000 -0.500000 -0.500000 15 | 16 | vt 0.000000 0.000000 17 | vt 1.000000 0.000000 18 | vt 0.000000 1.000000 19 | vt 1.000000 1.000000 20 | 21 | vn 0.000000 0.000000 1.000000 22 | vn 0.000000 1.000000 0.000000 23 | vn 0.000000 0.000000 -1.000000 24 | vn 0.000000 -1.000000 0.000000 25 | vn 1.000000 0.000000 0.000000 26 | vn -1.000000 0.000000 0.000000 27 | 28 | g cube 29 | usemtl cube 30 | s 1 31 | f 1/1/1 2/2/1 3/3/1 32 | f 3/3/1 2/2/1 4/4/1 33 | s 2 34 | f 3/1/2 4/2/2 5/3/2 35 | f 5/3/2 4/2/2 6/4/2 36 | s 3 37 | f 5/4/3 6/3/3 7/2/3 38 | f 7/2/3 6/3/3 8/1/3 39 | s 4 40 | f 7/1/4 8/2/4 1/3/4 41 | f 1/3/4 8/2/4 2/4/4 42 | s 5 43 | f 2/1/5 8/2/5 4/3/5 44 | f 4/3/5 8/2/5 6/4/5 45 | s 6 46 | f 7/1/6 1/2/6 5/3/6 47 | f 5/3/6 1/2/6 3/4/6 48 | 49 | -------------------------------------------------------------------------------- /resources/urdf/obj_libs/bottles/b4/cube.obj: -------------------------------------------------------------------------------- 1 | # cube.obj 2 | # 3 | 4 | o cube 5 | mtllib cube.mtl 6 | 7 | v -0.500000 -0.500000 0.500000 8 | v 0.500000 -0.500000 0.500000 9 | v -0.500000 0.500000 0.500000 10 | v 0.500000 0.500000 0.500000 11 | v -0.500000 0.500000 -0.500000 12 | v 0.500000 0.500000 -0.500000 13 | v -0.500000 -0.500000 -0.500000 14 | v 0.500000 -0.500000 -0.500000 15 | 16 | vt 0.000000 0.000000 17 | vt 1.000000 0.000000 18 | vt 0.000000 1.000000 19 | vt 1.000000 1.000000 20 | 21 | vn 0.000000 0.000000 1.000000 22 | vn 0.000000 1.000000 0.000000 23 | vn 0.000000 0.000000 -1.000000 24 | vn 0.000000 -1.000000 0.000000 25 | vn 1.000000 0.000000 0.000000 26 | vn -1.000000 0.000000 0.000000 27 | 28 | g cube 29 | usemtl cube 30 | s 1 31 | f 1/1/1 2/2/1 3/3/1 32 | f 3/3/1 2/2/1 4/4/1 33 | s 2 34 | f 3/1/2 4/2/2 5/3/2 35 | f 5/3/2 4/2/2 6/4/2 36 | s 3 37 | f 5/4/3 6/3/3 7/2/3 38 | f 7/2/3 6/3/3 8/1/3 39 | s 4 40 | f 7/1/4 8/2/4 1/3/4 41 | f 1/3/4 8/2/4 2/4/4 42 | s 5 43 | f 2/1/5 8/2/5 4/3/5 44 | f 4/3/5 8/2/5 6/4/5 45 | s 6 46 | f 7/1/6 1/2/6 5/3/6 47 | f 5/3/6 1/2/6 3/4/6 48 | 49 | -------------------------------------------------------------------------------- /resources/urdf/obj_libs/bottles/b6/cube.obj: -------------------------------------------------------------------------------- 1 | # cube.obj 2 | # 3 | 4 | o cube 5 | mtllib cube.mtl 6 | 7 | v -0.500000 -0.500000 0.500000 8 | v 0.500000 -0.500000 0.500000 9 | v -0.500000 0.500000 0.500000 10 | v 0.500000 0.500000 0.500000 11 | v -0.500000 0.500000 -0.500000 12 | v 0.500000 0.500000 -0.500000 13 | v -0.500000 -0.500000 -0.500000 14 | v 0.500000 -0.500000 -0.500000 15 | 16 | vt 0.000000 0.000000 17 | vt 1.000000 0.000000 18 | vt 0.000000 1.000000 19 | vt 1.000000 1.000000 20 | 21 | vn 0.000000 0.000000 1.000000 22 | vn 0.000000 1.000000 0.000000 23 | vn 0.000000 0.000000 -1.000000 24 | vn 0.000000 -1.000000 0.000000 25 | vn 1.000000 0.000000 0.000000 26 | vn -1.000000 0.000000 0.000000 27 | 28 | g cube 29 | usemtl cube 30 | s 1 31 | f 1/1/1 2/2/1 3/3/1 32 | f 3/3/1 2/2/1 4/4/1 33 | s 2 34 | f 3/1/2 4/2/2 5/3/2 35 | f 5/3/2 4/2/2 6/4/2 36 | s 3 37 | f 5/4/3 6/3/3 7/2/3 38 | f 7/2/3 6/3/3 8/1/3 39 | s 4 40 | f 7/1/4 8/2/4 1/3/4 41 | f 1/3/4 8/2/4 2/4/4 42 | s 5 43 | f 2/1/5 8/2/5 4/3/5 44 | f 4/3/5 8/2/5 6/4/5 45 | s 6 46 | f 7/1/6 1/2/6 5/3/6 47 | f 5/3/6 1/2/6 3/4/6 48 | 49 | -------------------------------------------------------------------------------- /resources/urdf/obj_libs/bottles/b7/cube.obj: -------------------------------------------------------------------------------- 1 | # cube.obj 2 | # 3 | 4 | o cube 5 | mtllib cube.mtl 6 | 7 | v -0.500000 -0.500000 0.500000 8 | v 0.500000 -0.500000 0.500000 9 | v -0.500000 0.500000 0.500000 10 | v 0.500000 0.500000 0.500000 11 | v -0.500000 0.500000 -0.500000 12 | v 0.500000 0.500000 -0.500000 13 | v -0.500000 -0.500000 -0.500000 14 | v 0.500000 -0.500000 -0.500000 15 | 16 | vt 0.000000 0.000000 17 | vt 1.000000 0.000000 18 | vt 0.000000 1.000000 19 | vt 1.000000 1.000000 20 | 21 | vn 0.000000 0.000000 1.000000 22 | vn 0.000000 1.000000 0.000000 23 | vn 0.000000 0.000000 -1.000000 24 | vn 0.000000 -1.000000 0.000000 25 | vn 1.000000 0.000000 0.000000 26 | vn -1.000000 0.000000 0.000000 27 | 28 | g cube 29 | usemtl cube 30 | s 1 31 | f 1/1/1 2/2/1 3/3/1 32 | f 3/3/1 2/2/1 4/4/1 33 | s 2 34 | f 3/1/2 4/2/2 5/3/2 35 | f 5/3/2 4/2/2 6/4/2 36 | s 3 37 | f 5/4/3 6/3/3 7/2/3 38 | f 7/2/3 6/3/3 8/1/3 39 | s 4 40 | f 7/1/4 8/2/4 1/3/4 41 | f 1/3/4 8/2/4 2/4/4 42 | s 5 43 | f 2/1/5 8/2/5 4/3/5 44 | f 4/3/5 8/2/5 6/4/5 45 | s 6 46 | f 7/1/6 1/2/6 5/3/6 47 | f 5/3/6 1/2/6 3/4/6 48 | 49 | -------------------------------------------------------------------------------- /resources/urdf/obj_libs/bottles/b8/cube.obj: -------------------------------------------------------------------------------- 1 | # cube.obj 2 | # 3 | 4 | o cube 5 | mtllib cube.mtl 6 | 7 | v -0.500000 -0.500000 0.500000 8 | v 0.500000 -0.500000 0.500000 9 | v -0.500000 0.500000 0.500000 10 | v 0.500000 0.500000 0.500000 11 | v -0.500000 0.500000 -0.500000 12 | v 0.500000 0.500000 -0.500000 13 | v -0.500000 -0.500000 -0.500000 14 | v 0.500000 -0.500000 -0.500000 15 | 16 | vt 0.000000 0.000000 17 | vt 1.000000 0.000000 18 | vt 0.000000 1.000000 19 | vt 1.000000 1.000000 20 | 21 | vn 0.000000 0.000000 1.000000 22 | vn 0.000000 1.000000 0.000000 23 | vn 0.000000 0.000000 -1.000000 24 | vn 0.000000 -1.000000 0.000000 25 | vn 1.000000 0.000000 0.000000 26 | vn -1.000000 0.000000 0.000000 27 | 28 | g cube 29 | usemtl cube 30 | s 1 31 | f 1/1/1 2/2/1 3/3/1 32 | f 3/3/1 2/2/1 4/4/1 33 | s 2 34 | f 3/1/2 4/2/2 5/3/2 35 | f 5/3/2 4/2/2 6/4/2 36 | s 3 37 | f 5/4/3 6/3/3 7/2/3 38 | f 7/2/3 6/3/3 8/1/3 39 | s 4 40 | f 7/1/4 8/2/4 1/3/4 41 | f 1/3/4 8/2/4 2/4/4 42 | s 5 43 | f 2/1/5 8/2/5 4/3/5 44 | f 4/3/5 8/2/5 6/4/5 45 | s 6 46 | f 7/1/6 1/2/6 5/3/6 47 | f 5/3/6 1/2/6 3/4/6 48 | 49 | -------------------------------------------------------------------------------- /resources/urdf/objmodels/nut.urdf: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /simulation/env_157.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | 3 | import time 4 | import math 5 | from datetime import datetime 6 | from time import sleep 7 | import numpy as np 8 | import random 9 | import cv2 10 | import os 11 | import argparse 12 | import torch 13 | 14 | import sys 15 | sys.path.append('./Eval') 16 | sys.path.append('./') 17 | 18 | from env_156 import Engine156 19 | from utils_env import get_view,safe_path,cut_frame,point2traj,get_gripper_pos,backup_code 20 | 21 | class Engine157(Engine156): 22 | def __init__(self, worker_id, opti, p_id, taskId=5, maxSteps=15, n_dmps=3, cReward=True): 23 | super(Engine157,self).__init__(worker_id, opti, p_id, taskId=taskId, maxSteps=maxSteps, n_dmps=n_dmps, cReward=True) 24 | self.opti = opti 25 | 26 | def get_success(self,seg=None): 27 | box_AABB = self.p.getAABB(self.obj_id) 28 | obj_pos = self.p.getBasePositionAndOrientation(self.obj_id)[0] 29 | if obj_pos[0] > box_AABB[0][0] and obj_pos[0] < box_AABB[1][0] and obj_pos[1] > box_AABB[0][1] and obj_pos[1] < box_AABB[1][1]: 30 | return False 31 | else: 32 | return True 33 | 34 | -------------------------------------------------------------------------------- /simulation/env_99.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | import time 3 | import math 4 | from datetime import datetime 5 | from time import sleep 6 | import numpy as np 7 | import random 8 | import cv2 9 | import os 10 | import argparse 11 | import torch 12 | 13 | import sys 14 | sys.path.append('./') 15 | 16 | from env_98 import Engine98 17 | from utils_env import get_view,safe_path,cut_frame,point2traj,get_gripper_pos,backup_code 18 | 19 | class Engine99(Engine98): 20 | def __init__(self, worker_id, opti, p_id, taskId=5, maxSteps=15, n_dmps=3, cReward=True): 21 | super(Engine99,self).__init__(worker_id, opti, p_id, taskId=taskId, maxSteps=maxSteps, n_dmps=n_dmps, cReward=cReward) 22 | self.opti = opti 23 | 24 | def get_success(self,seg=None): 25 | pos = self.p.getBasePositionAndOrientation(self.obj_id)[0][2] 26 | closet_info = self.p.getContactPoints (self.robotId, self.obj_id) 27 | if len(closet_info) > 0: 28 | self.contact = True 29 | if pos < self.pos - 0.04 and self.dmp.timestep >= self.dmp.timesteps and self.contact: 30 | return True 31 | else: 32 | return False 33 | -------------------------------------------------------------------------------- /resources/urdf/robotiq_2f_85/visual/robotiq_arg2f_85_finger_tip.obj: -------------------------------------------------------------------------------- 1 | v 0.011 -0.003175 -0.01875 2 | v 0.011 -0.003175 0.01875 3 | v -0.011 -0.003175 0.01875 4 | v -0.011 -0.003175 -0.01875 5 | v 0.011 0.003175 -0.01875 6 | v 0.011 0.003175 0.01875 7 | v -0.011 0.003175 0.01875 8 | v -0.011 0.003175 -0.01875 9 | vt 1.000000 0.333333 10 | vt 1.000000 0.666667 11 | vt 0.666667 0.666667 12 | vt 0.666667 0.333333 13 | vt 0.666667 0.000000 14 | vt 0.000000 0.333333 15 | vt 0.000000 0.000000 16 | vt 0.333333 0.000000 17 | vt 0.333333 1.000000 18 | vt 0.000000 1.000000 19 | vt 0.000000 0.666667 20 | vt 0.333333 0.333333 21 | vt 0.333333 0.666667 22 | vt 1.000000 0.000000 23 | vn 0.000000 -1.000000 0.000000 24 | vn 0.000000 1.000000 0.000000 25 | vn 1.000000 0.000000 0.000000 26 | vn -0.000000 0.000000 1.000000 27 | vn -1.000000 -0.000000 -0.000000 28 | vn 0.000000 0.000000 -1.000000 29 | f 2/1/1 3/2/1 4/3/1 30 | f 8/1/2 7/4/2 6/5/2 31 | f 5/6/3 6/7/3 2/8/3 32 | f 6/8/4 7/5/4 3/4/4 33 | f 3/9/5 7/10/5 8/11/5 34 | f 1/12/6 4/13/6 8/11/6 35 | f 1/4/1 2/1/1 4/3/1 36 | f 5/14/2 8/1/2 6/5/2 37 | f 1/12/3 5/6/3 2/8/3 38 | f 2/12/4 6/8/4 3/4/4 39 | f 4/13/5 3/9/5 8/11/5 40 | f 5/6/6 1/12/6 8/11/6 -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2020 Stanford Interactive Perception and Robot Learning Lab 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /simulation/env_56.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | import time 3 | import math 4 | from datetime import datetime 5 | from time import sleep 6 | import numpy as np 7 | import random 8 | import cv2 9 | import os 10 | import argparse 11 | import torch 12 | 13 | import sys 14 | sys.path.append('./Eval') 15 | sys.path.append('./') 16 | 17 | from env_55 import Engine55 18 | from utils_env import get_view,safe_path,cut_frame,point2traj,get_gripper_pos,backup_code 19 | 20 | class Engine56(Engine55): 21 | def __init__(self, worker_id, opti, p_id, taskId=5, maxSteps=15, n_dmps=3, cReward=True): 22 | super(Engine56,self).__init__(worker_id, opti, p_id, taskId=taskId, maxSteps=maxSteps, n_dmps=n_dmps, cReward=cReward) 23 | self.opti = opti 24 | 25 | def get_success(self,seg=None): 26 | pos = np.array(self.p.getBasePositionAndOrientation(self.obj_id)[0]) 27 | dist = np.linalg.norm(pos-self.pos) 28 | contact_info = self.p.getContactPoints (self.robotId, self.obj_id) 29 | if len(contact_info) > 0: 30 | self.contact = True 31 | if dist < 0.05 and self.contact and self.dmp.timestep >= self.dmp.timesteps: 32 | return True 33 | else: 34 | return False 35 | -------------------------------------------------------------------------------- /simulation/env_44.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | import time 3 | import math 4 | from datetime import datetime 5 | from time import sleep 6 | import numpy as np 7 | import random 8 | import cv2 9 | import os 10 | import argparse 11 | import torch 12 | 13 | import sys 14 | sys.path.append('./') 15 | 16 | from env_41 import Engine41 17 | from utils_env import get_view,safe_path,cut_frame,point2traj,get_gripper_pos,backup_code 18 | 19 | class Engine44(Engine41): 20 | def __init__(self, worker_id, opti, p_id, taskId=5, maxSteps=15, n_dmps=3, cReward=True): 21 | super(Engine44,self).__init__(worker_id, opti, p_id, taskId=taskId, maxSteps=maxSteps, n_dmps=n_dmps, cReward=cReward) 22 | self.opti = opti 23 | 24 | def get_success(self,seg=None): 25 | obj_pos = self.p.getBasePositionAndOrientation(self.obj_id)[0] 26 | obj_pos = np.array(obj_pos) 27 | cam_pos = np.array([-0.09,0.04,0.89]) 28 | dist_cam_obj = np.linalg.norm(cam_pos - obj_pos) 29 | #print("dist_cam_obj",dist_cam_obj,"dist",self.dist,"dist_cam_obj > self.dist + 0.1",dist_cam_obj > self.dist + 0.1) 30 | if dist_cam_obj < self.dist - 0.1: 31 | return True 32 | else: 33 | return False 34 | 35 | -------------------------------------------------------------------------------- /Languages/useBert.py: -------------------------------------------------------------------------------- 1 | import torch 2 | from pytorch_transformers import * 3 | import numpy as np 4 | import json 5 | 6 | from collections import namedtuple 7 | 8 | ListData = namedtuple('ListData',['id','labels']) 9 | 10 | classes = [line.strip().split(":")[0] for line in open('labels.txt')] 11 | #with open("something-something-v2-labels.json") as jsonfile: 12 | # json_reader = json.load(jsonfile) 13 | # for elem in json_reader: 14 | # print(elem) 15 | # classes.append(elem) 16 | #sorted(classes) 17 | for i in range(len(classes)): 18 | print(i,classes[i]) 19 | 20 | MODELS = [(BertModel, BertTokenizer, 'bert-large-uncased')] 21 | 22 | for model_class, tokenizer_class, pretrained_weights in MODELS: 23 | #Load pretrained model/tokenizer 24 | tokenizer = tokenizer_class.from_pretrained(pretrained_weights) 25 | model = model_class.from_pretrained(pretrained_weights) 26 | 27 | # Encode text 28 | for i in range(len(classes)): 29 | input_ids1 = torch.tensor([tokenizer.encode(classes[i])]) 30 | 31 | with torch.no_grad(): 32 | last_hidden_states = model(input_ids1)[0][0][-1] 33 | print(last_hidden_states.size()) 34 | vec = last_hidden_states.numpy() 35 | print(np.sum(vec),i,classes[i]) 36 | # np.save(str(i)+".npy",vec) 37 | -------------------------------------------------------------------------------- /configs/classification/pretrained/config_model1.json: -------------------------------------------------------------------------------- 1 | { 2 | "model_name": "model3D_1", 3 | "output_dir": "trained_models/pretrained", 4 | 5 | "input_mode": "skvideo", 6 | 7 | "data_folder": "/scr-ssd/ConceptManipulation/Data/videos/", 8 | 9 | "json_data_train": "/scr-ssd/ConceptManipulation/Data/captions/something-something-v2-train.json", 10 | "json_data_val": "/scr-ssd/ConceptManipulation/Data/captions/something-something-v2-validation.json", 11 | "json_data_test": "/scr-ssd/ConceptManipulation/Data/captions/something-something-v2-test.json", 12 | 13 | "json_file_labels": "/scr-ssd/ConceptManipulation/Data/captions/something-something-v2-labels.json", 14 | 15 | "num_workers": 6, 16 | 17 | "num_classes": 174, 18 | "batch_size": 96, 19 | "clip_size": 48, 20 | 21 | "nclips_train": 1, 22 | "nclips_val": 1, 23 | 24 | "upscale_factor_train": 1.0, 25 | "upscale_factor_eval": 1.0, 26 | 27 | "step_size_train": 1, 28 | "step_size_val": 1, 29 | 30 | "lr": 0.008, 31 | "last_lr": 0.00001, 32 | "momentum": 0.9, 33 | "weight_decay": 0.00001, 34 | "num_epochs": -1, 35 | "print_freq": 100, 36 | 37 | "conv_model": "models.model3D_1", 38 | "input_spatial_size": 84, 39 | 40 | "column_units": 512, 41 | "save_features": false 42 | } 43 | -------------------------------------------------------------------------------- /configs/classification/pretrained/config_model1_224.json: -------------------------------------------------------------------------------- 1 | { 2 | "model_name": "model3D_1_224", 3 | "output_dir": "trained_models/pretrained", 4 | 5 | "input_mode": "skivideo", 6 | 7 | "data_folder": "/scr-ssd/ConceptManipulation/Data/videos/", 8 | 9 | "json_data_train": "/scr-ssd/ConceptManipulation/Data/captions/something-something-v2-train.json", 10 | "json_data_val": "/scr-ssd/ConceptManipulation/Data/captions/something-something-v2-validation.json", 11 | "json_data_test": "/scr-ssd/ConceptManipulation/Data/captions/something-something-v2-test.json", 12 | 13 | "json_file_labels": "/scr-ssd/ConceptManipulation/Data/captions/something-something-v2-labels.json", 14 | 15 | "num_workers": 12, 16 | 17 | "num_classes": 174, 18 | "batch_size": 100, 19 | "clip_size": 48, 20 | 21 | "nclips_train": 1, 22 | "nclips_val": 1, 23 | 24 | "upscale_factor_train": 1.0, 25 | "upscale_factor_eval": 1.0, 26 | 27 | "step_size_train": 1, 28 | "step_size_val": 1, 29 | 30 | "lr": 0.01, 31 | "last_lr": 0.00001, 32 | "momentum": 0.9, 33 | "weight_decay": 0.00001, 34 | "num_epochs": -1, 35 | "print_freq": 500, 36 | 37 | "conv_model": "models.model3D_1_224", 38 | "input_spatial_size": 224, 39 | 40 | "column_units": 512, 41 | "save_features": false 42 | } 43 | -------------------------------------------------------------------------------- /classification/image/configs/config_resnet2.json: -------------------------------------------------------------------------------- 1 | { 2 | "model_name": "model_resnet2", 3 | "output_dir": "trained_models/", 4 | 5 | "input_mode": "image", 6 | 7 | "data_folder": "../../data/20bn-something-something-v2/dataset_raw/", 8 | 9 | "json_data_train": "../../data/20bn-something-something-v2/annotations/something-something-v2-train.json", 10 | "json_data_val": "../../data/20bn-something-something-v2/annotations/something-something-v2-validation.json", 11 | "json_data_test": "../../data/20bn-something-something-v2/annotations/something-something-v2-test.json", 12 | "json_file_labels": "../../data/20bn-something-something-v2/annotations/something-something-v2-labels.json", 13 | 14 | "num_workers": 5, 15 | 16 | "num_classes": 174, 17 | "batch_size": 30, 18 | "clip_size": 72, 19 | 20 | "nclips_train": 1, 21 | "nclips_val": 1, 22 | 23 | "upscale_factor_train": 1.0, 24 | "upscale_factor_eval": 1.0, 25 | 26 | "step_size_train": 1, 27 | "step_size_val": 1, 28 | 29 | "lr": 0.008, 30 | "last_lr": 0.00001, 31 | "momentum": 0.9, 32 | "weight_decay": 0.00001, 33 | "num_epochs": -1, 34 | "print_freq": 100, 35 | 36 | "conv_model": "models.model_resnet2", 37 | "input_spatial_size": 224, 38 | 39 | "column_units": 512, 40 | "save_features": true 41 | } 42 | -------------------------------------------------------------------------------- /classification/image/configs/config_resnet.json: -------------------------------------------------------------------------------- 1 | { 2 | "model_name": "model_resnet", 3 | "output_dir": "../../models/classification/image/", 4 | 5 | "input_mode": "image", 6 | 7 | "data_folder": "../../data/20bn-something-something-v2/dataset_raw/", 8 | 9 | "json_data_train": "../../data/20bn-something-something-v2/annotations/something-something-v2-train.json", 10 | "json_data_val": "../../data/20bn-something-something-v2/annotations/something-something-v2-validation.json", 11 | "json_data_test": "../../data/20bn-something-something-v2/annotations/something-something-v2-test.json", 12 | "json_file_labels": "../../data/20bn-something-something-v2/annotations/something-something-v2-labels.json", 13 | 14 | "num_workers": 5, 15 | 16 | "num_classes": 174, 17 | "batch_size": 30, 18 | "clip_size": 72, 19 | 20 | "nclips_train": 1, 21 | "nclips_val": 1, 22 | 23 | "upscale_factor_train": 1.0, 24 | "upscale_factor_eval": 1.0, 25 | 26 | "step_size_train": 1, 27 | "step_size_val": 1, 28 | 29 | "lr": 0.008, 30 | "last_lr": 0.00001, 31 | "momentum": 0.9, 32 | "weight_decay": 0.00001, 33 | "num_epochs": -1, 34 | "print_freq": 100, 35 | 36 | "conv_model": "models.model_resnet", 37 | "input_spatial_size": 224, 38 | 39 | "column_units": 512, 40 | "save_features": true 41 | } 42 | -------------------------------------------------------------------------------- /resources/urdf/obj_libs/marbles/m1/m1.urdf: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /resources/urdf/obj_libs/bevels/b1/b1.urdf: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /resources/urdf/obj_libs/bevels/b2/b2.urdf: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /configs/classification/config_model1.json: -------------------------------------------------------------------------------- 1 | { 2 | "model_name": "model3D_1_scratch", 3 | "output_dir": "../models/classification/", 4 | "input_mode": "skvideo", 5 | "data_folder": "../data/20bn-something-something-v2/dataset_raw", 6 | "json_data_train": "../data/20bn-something-something-v2/labels/something-something-v2-train.json", 7 | "json_data_val": "../data/20bn-something-something-v2/labels/something-something-v2-validation.json", 8 | "json_data_test": "../data/20bn-something-something-v2/labels/something-something-v2-test.json", 9 | 10 | "json_file_labels": "../data/20bn-something-something-v2/labels/something-something-v2-labels.json", 11 | 12 | "num_workers": 2, 13 | 14 | "num_classes": 174, 15 | "batch_size": 40, 16 | "clip_size": 72, 17 | 18 | "nclips_train": 1, 19 | "nclips_val": 1, 20 | 21 | "upscale_factor_train": 1.4, 22 | "upscale_factor_eval": 1.0, 23 | 24 | "step_size_train": 1, 25 | "step_size_val": 1, 26 | 27 | "lr": 0.008, 28 | "last_lr": 0.00001, 29 | "momentum": 0.9, 30 | "weight_decay": 0.00001, 31 | "num_epochs": -1, 32 | "print_freq": 100, 33 | 34 | "conv_model": "models.model3D_1", 35 | "input_spatial_size": 84, 36 | 37 | "column_units": 512, 38 | "save_features": true 39 | } 40 | -------------------------------------------------------------------------------- /resources/urdf/obj_libs/cylinders/c1/c1.urdf: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /resources/urdf/book/configuration_2017-06-01/book.urdf: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /resources/urdf/book/configuration_2017-07-30/book.urdf: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /resources/urdf/book/configuration_2017-07-31/book.urdf: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /resources/urdf/book/configuration_2017-08-01/book.urdf: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /configs/classification/pretrained/config_model1_left_right.json: -------------------------------------------------------------------------------- 1 | { 2 | "model_name": "model3D_1_left_right", 3 | "output_dir": "trained_models/pretrained", 4 | 5 | "input_mode": "av", 6 | 7 | "data_folder": "../data/20bn-something-something-v2/dataset_raw", 8 | 9 | "json_data_train": "../data/20bn-something-something-v2/labels/something-something-v2-train.json", 10 | "json_data_val": "../data/20bn-something-something-v2/labels/something-something-v2-validation.json", 11 | "json_data_test": "../data/20bn-something-something-v2/labels/something-something-v2-test.json", 12 | 13 | "json_file_labels": "../data/20bn-something-something-v2/labels/something-something-v2-labels.json", 14 | 15 | "num_workers": 8, 16 | 17 | "num_classes": 174, 18 | "batch_size": 40, 19 | "clip_size": 72, 20 | 21 | "nclips_train": 1, 22 | "nclips_val": 1, 23 | 24 | "upscale_factor_train": 1.4, 25 | "upscale_factor_eval": 1.0, 26 | 27 | "step_size_train": 1, 28 | "step_size_val": 1, 29 | 30 | "augmentation_mappings_json": "assets/augmentation_mappings.json", 31 | "augmentation_types_todo": ["left/right", "left/right agnostic", "jitter_fps"], 32 | 33 | "lr": 0.01, 34 | "last_lr": 0.00001, 35 | "momentum": 0.9, 36 | "weight_decay": 0.00001, 37 | "num_epochs": -1, 38 | "print_freq": 100, 39 | 40 | "conv_model": "models.model3D_1", 41 | "input_spatial_size": 84, 42 | 43 | "column_units": 512, 44 | "save_features": true 45 | } 46 | --------------------------------------------------------------------------------