Added tests involving agent-arm opening and closing containers in FP1

allenai · Aug 8, 2022 · 1a9bd54 · 1a9bd54
1 parent d674a6f
commit 1a9bd54
Show file tree

Hide file tree

Showing 47 changed files with 524 additions and 0 deletions.
diff --git a/unity/debug/g1age.json b/unity/debug/g1age.json
@@ -0,0 +1,23 @@
+[
+  {
+    "action": "Initialize",
+    "agentMode": "arm",
+    "agentControllerType": "mid-level",
+    "renderInstanceSegmentation": true
+  },
+  {
+    "action": "MoveAgent",
+    "ahead": 0.08,
+    "right": -0.73,
+    "returnToStart": "true"
+  },
+  {
+    "action": "MoveArm",
+    "coordinateSpace": "world",
+    "position": {
+      "x": -1.3149,
+      "y": 0.6049995,
+      "z": 0.04580003
+    }
+  }
+]
diff --git a/unity/debug/g1dub.json b/unity/debug/g1dub.json
@@ -0,0 +1,32 @@
+[
+  {
+    "action": "Initialize",
+    "agentMode": "arm",
+    "agentControllerType": "mid-level",
+    "renderInstanceSegmentation": true
+  },
+  {
+    "action": "MoveAgent",
+    "ahead": -0.15,
+    "returnToStart": "true"
+  },
+  {
+    "action": "MoveAgent",
+    "right": -2.5,
+    "returnToStart": "true"
+  },
+  {
+    "action": "MoveAgent",
+    "ahead": -0.1,
+    "returnToStart": "true"
+  },
+  {
+    "action": "MoveArm",
+    "coordinateSpace": "world",
+    "position": {
+      "x": -1.301,
+      "y": 0.6059991,
+      "z": -1.466
+    }
+  }
+]
diff --git a/unity/debug/g1hyp.json b/unity/debug/g1hyp.json
@@ -0,0 +1,23 @@
+[
+  {
+    "action": "Initialize",
+    "agentMode": "arm",
+    "agentControllerType": "mid-level",
+    "renderInstanceSegmentation": true
+  },
+  {
+    "action": "MoveAgent",
+    "ahead": -0.1,
+    "right": -1.8,
+    "returnToStart": "true"
+  },
+  {
+    "action": "MoveArm",
+    "coordinateSpace": "world",
+    "position": {
+      "x": -1.3149,
+      "y": 0.6049995,
+      "z": 0.04580003
+    }
+  }
+]
diff --git a/unity/debug/g1nor.json b/unity/debug/g1nor.json
@@ -0,0 +1,23 @@
+[
+  {
+    "action": "Initialize",
+    "agentMode": "arm",
+    "agentControllerType": "mid-level",
+    "renderInstanceSegmentation": true
+  },
+  {
+    "action": "MoveAgent",
+    "ahead": 0,
+    "right": -0.7,
+    "returnToStart": "true"
+  },
+  {
+    "action": "MoveArm",
+    "coordinateSpace": "world",
+    "position": {
+      "x": -1.3149,
+      "y": 0.6049995,
+      "z": 0.04580003
+    }
+  }
+]
diff --git a/unity/debug/g1open.json b/unity/debug/g1open.json
@@ -0,0 +1,23 @@
+[
+  {
+    "action": "Initialize",
+    "agentMode": "arm",
+    "agentControllerType": "mid-level",
+    "renderInstanceSegmentation": true
+  },
+  {
+    "action": "MoveAgent",
+    "ahead": -0.15,
+    "right": -1,
+    "returnToStart": "true"
+  },
+  {
+    "action": "MoveArm",
+    "coordinateSpace": "world",
+    "position": {
+      "x": -1.348,
+      "y": 0.6749991,
+      "z": -0.2
+    }
+  }
+]
diff --git a/unity/debug/g1scale.json b/unity/debug/g1scale.json
@@ -0,0 +1,17 @@
+[
+  {
+    "action": "Initialize",
+    "agentMode": "arm",
+    "agentControllerType": "mid-level",
+    "renderInstanceSegmentation": true
+  },
+  {
+    "action": "MoveArm",
+    "coordinateSpace": "world",
+    "position": {
+      "x": -1.13,
+      "y": 0.8986162,
+      "z": 0.1650001
+    }
+  }
+]
diff --git a/unity/debug/g2dub.json b/unity/debug/g2dub.json
@@ -0,0 +1,18 @@
+[
+  {
+    "action": "OpenObject",
+    "objectId": "Cabinet|-01.55|+00.50|-01.97",
+    "forceAction": true,
+    "useGripper": true,
+    "returnToStart": true,
+    "stopAtNonStaticCol": false
+  },
+  {
+    "action": "CloseObject",
+    "objectId": "Cabinet|-01.55|+00.50|-01.97",
+    "forceAction": true,
+    "useGripper": true,
+    "returnToStart": true,
+    "stopAtNonStaticCol": false
+  }
+]
diff --git a/unity/debug/g2hyp.json b/unity/debug/g2hyp.json
@@ -0,0 +1,9 @@
+[
+  {
+    "action": "OpenObject",
+    "objectId": "Cabinet|-01.55|+00.50|+00.38",
+    "forceAction": true,
+    "useGripper": true,
+    "returnToStart": true
+  }
+]
diff --git a/unity/debug/g2nor.json b/unity/debug/g2nor.json
@@ -0,0 +1,10 @@
+[
+  {
+    "action": "OpenObject",
+    "objectId": "Cabinet|-01.55|+00.50|+00.38",
+    "forceAction": true,
+    "useGripper": true,
+    "returnToStart": true,
+    "stopAtNonStaticCol": false
+  }
+]
diff --git a/unity/debug/g2open.json b/unity/debug/g2open.json
@@ -0,0 +1,10 @@
+[
+  {
+    "action": "OpenObject",
+    "objectId": "Drawer|-01.56|+00.66|-00.20",
+    "forceAction": true,
+    "useGripper": true,
+    "returnToStart": true,
+    "stopAtNonStaticCol": false
+  }
+]
diff --git a/unity/debug/g2scale.json b/unity/debug/g2scale.json
@@ -0,0 +1,10 @@
+[
+  {
+    "action": "OpenObject",
+    "objectId": "ShowerCurtain|-00.79|+02.22|-00.24",
+    "forceAction": true,
+    "useGripper": true,
+    "returnToStart": false,
+    "stopAtNonStaticCol": false
+  }
+]
diff --git a/unity/debug/gage1.json b/unity/debug/gage1.json
@@ -0,0 +1,8 @@
+[
+  {
+    "action": "Initialize",
+    "agentMode": "arm",
+    "agentControllerType": "mid-level",
+    "renderInstanceSegmentation": true
+  }
+]
diff --git a/unity/debug/gage2.json b/unity/debug/gage2.json
@@ -0,0 +1,7 @@
+[
+  {
+    "action": "RotateAgent",
+    "degrees": -90,
+    "returnToStart": "true"
+  }
+]
diff --git a/unity/debug/gage3.json b/unity/debug/gage3.json
@@ -0,0 +1,8 @@
+[
+  {
+    "action": "MoveAgent",
+    "ahead": 0.35,
+    "right": 0,
+    "returnToStart": "true"
+  }
+]
diff --git a/unity/debug/gage4.json b/unity/debug/gage4.json
@@ -0,0 +1,8 @@
+[
+  {
+    "action": "MoveAgent",
+    "ahead": 0.35,
+    "right": 0,
+    "returnToStart": "true"
+  }
+]
diff --git a/unity/debug/gage5.json b/unity/debug/gage5.json
@@ -0,0 +1,11 @@
+[
+  {
+    "action": "MoveArm",
+    "coordinateSpace": "armBase",
+    "position": {
+      "x": -0.311,
+      "y": -0.085,
+      "z": 0.216
+    }
+  }
+]
diff --git a/unity/debug/gage6.json b/unity/debug/gage6.json
@@ -0,0 +1,7 @@
+[
+  {
+    "action": "RotateAgent",
+    "degrees": 90,
+    "returnToStart": "true"
+  }
+]
diff --git a/unity/debug/gage7.json b/unity/debug/gage7.json
@@ -0,0 +1,8 @@
+[
+  {
+    "action": "MoveAgent",
+    "ahead": 0.15,
+    "right": 0,
+    "returnToStart": "true"
+  }
+]
diff --git a/unity/debug/gage8.json b/unity/debug/gage8.json
@@ -0,0 +1,11 @@
+[
+  {
+    "action": "MoveArm",
+    "coordinateSpace": "armBase",
+    "position": {
+      "x": -0.565,
+      "y": -0.247,
+      "z": 0.216
+    }
+  }
+]
diff --git a/unity/debug/gage9.json b/unity/debug/gage9.json
@@ -0,0 +1,11 @@
+[
+  {
+    "action": "OpenObject",
+    "objectId": "Cabinet|-01.55|+00.50|+00.38",
+    "forceAction": false,
+    "useGripper": true,
+    "returnToStart": true,
+    "stopAtNonStaticCol": false,
+    "ignoreAgentInTransition": false
+  }
+]
diff --git a/unity/debug/ghyp1.json b/unity/debug/ghyp1.json
@@ -0,0 +1,8 @@
+[
+  {
+    "action": "Initialize",
+    "agentMode": "arm",
+    "agentControllerType": "mid-level",
+    "renderInstanceSegmentation": true
+  }
+]
diff --git a/unity/debug/ghyp10.json b/unity/debug/ghyp10.json
@@ -0,0 +1,10 @@
+[
+  {
+    "action": "OpenObject",
+    "objectId": "Cabinet|-01.55|+00.50|+00.38",
+    "forceAction": true,
+    "useGripper": true,
+    "returnToStart": true,
+    "stopAtNonStaticCol": false
+  }
+]
diff --git a/unity/debug/ghyp2.json b/unity/debug/ghyp2.json
@@ -0,0 +1,7 @@
+[
+  {
+    "action": "RotateAgent",
+    "degrees": -90,
+    "returnToStart": "true"
+  }
+]
diff --git a/unity/debug/ghyp3.json b/unity/debug/ghyp3.json
@@ -0,0 +1,8 @@
+[
+  {
+    "action": "MoveAgent",
+    "ahead": 0.5,
+    "right": 0,
+    "returnToStart": "true"
+  }
+]
diff --git a/unity/debug/ghyp4.json b/unity/debug/ghyp4.json
@@ -0,0 +1,8 @@
+[
+  {
+    "action": "MoveAgent",
+    "ahead": 0.5,
+    "right": 0,
+    "returnToStart": "true"
+  }
+]
diff --git a/unity/debug/ghyp5.json b/unity/debug/ghyp5.json
@@ -0,0 +1,8 @@
+[
+  {
+    "action": "MoveAgent",
+    "ahead": 0.5,
+    "right": 0,
+    "returnToStart": "true"
+  }
+]
diff --git a/unity/debug/ghyp6.json b/unity/debug/ghyp6.json
@@ -0,0 +1,11 @@
+[
+  {
+    "action": "MoveArm",
+    "coordinateSpace": "armBase",
+    "position": {
+      "x": -0.295,
+      "y": 0.0,
+      "z": 0.166
+    }
+  }
+]
diff --git a/unity/debug/ghyp7.json b/unity/debug/ghyp7.json
@@ -0,0 +1,7 @@
+[
+  {
+    "action": "RotateAgent",
+    "degrees": -270,
+    "returnToStart": "true"
+  }
+]
diff --git a/unity/debug/ghyp8.json b/unity/debug/ghyp8.json
@@ -0,0 +1,11 @@
+[
+  {
+    "action": "MoveArm",
+    "coordinateSpace": "armBase",
+    "position": {
+      "x": 0.096,
+      "y": 0.036,
+      "z": 0.096
+    }
+  }
+]