| demonstration_configs: |
| - domain_randomization: |
| cameras: |
| config_path: configs/cameras/fixed_camera_lift2_simbox.yml |
| type: fixed |
| random_environment: |
| has_wall: false |
| hdr: false |
| robot_base_position: false |
| robot_eepose: false |
| table_texture: false |
| table_type: false |
| wall_texture: false |
| random_visuals: |
| - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 |
| type: mdl |
| assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' |
| - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 |
| type: mdl |
| assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' |
| rewrite_instruction: false |
| generation_config: |
| action_path: |
| mode: manual |
| actions: |
| - type: move_to |
| move_type: alignv2 |
| rel_object_uid: bottle1 |
| arm: right |
| delta_position: |
| x: -0.3 |
| y: 0.0 |
| yaw: null |
|
|
| - type: custom_motion |
| motion_list: |
| right: |
| - name: right |
| translation: [0.0, 0.2, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: false |
| rel_object_uid: bottle1 |
| type: object_frame |
| - name: right |
| translation: [0.0, 0.15, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: false |
| rel_object_uid: bottle1 |
| type: object_frame |
| - name: right |
| cnt: 15 |
| grasp: true |
| type: pending |
| - name: right |
| translation: [0.0, 0.3, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: true |
| rel_object_uid: bottle1 |
| type: object_frame |
|
|
| - type: move_to |
| move_type: alignv2 |
| rel_object_uid: basket |
| arm: right |
| grasp: true |
| delta_position: |
| x: -0.3 |
| y: 0.0 |
| yaw: null |
|
|
| - type: custom_motion |
| motion_list: |
| right: |
| - name: right |
| translation: [0.0, 0.25, 0.003] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: true |
| rel_object_uid: basket |
| type: object_frame |
| - name: right |
| cnt: 15 |
| grasp: false |
| type: pending |
|
|
| - type: move_to |
| move_type: alignv2 |
| rel_object_uid: bottle2 |
| arm: right |
| delta_position: |
| x: -0.3 |
| y: 0.0 |
| yaw: null |
| |
| - type: custom_motion |
| motion_list: |
| right: |
| - name: right |
| translation: [0.0, 0.2, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: false |
| rel_object_uid: bottle2 |
| type: object_frame |
| - name: right |
| translation: [0.0, 0.15, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: false |
| rel_object_uid: bottle2 |
| type: object_frame |
| - name: right |
| cnt: 15 |
| grasp: true |
| type: pending |
| - name: right |
| translation: [0.0, 0.3, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: true |
| rel_object_uid: bottle2 |
| type: object_frame |
|
|
| - type: move_to |
| move_type: alignv2 |
| rel_object_uid: basket |
| arm: right |
| grasp: true |
| delta_position: |
| x: -0.3 |
| y: 0.06 |
| yaw: null |
|
|
| - type: custom_motion |
| motion_list: |
| right: |
| - name: right |
| translation: [0.06, 0.25, 0.003] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: true |
| rel_object_uid: basket |
| type: object_frame |
| - name: right |
| cnt: 15 |
| grasp: false |
| type: pending |
|
|
| - type: move_to |
| move_type: alignv2 |
| rel_object_uid: bottle3 |
| arm: right |
| delta_position: |
| x: -0.3 |
| y: 0.0 |
| yaw: null |
| |
| - type: custom_motion |
| motion_list: |
| right: |
| - name: right |
| translation: [0.0, 0.2, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: false |
| rel_object_uid: bottle3 |
| type: object_frame |
| - name: right |
| translation: [0.0, 0.15, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: false |
| rel_object_uid: bottle3 |
| type: object_frame |
| - name: right |
| cnt: 15 |
| grasp: true |
| type: pending |
| - name: right |
| translation: [0.0, 0.3, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: true |
| rel_object_uid: bottle3 |
| type: object_frame |
|
|
| - type: move_to |
| move_type: alignv2 |
| rel_object_uid: basket |
| arm: right |
| grasp: true |
| delta_position: |
| x: -0.3 |
| y: 0.13 |
| yaw: null |
|
|
| - type: custom_motion |
| motion_list: |
| right: |
| - name: right |
| translation: [0.13, 0.25, 0.003] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: true |
| rel_object_uid: basket |
| type: object_frame |
| - name: right |
| cnt: 15 |
| grasp: false |
| type: pending |
|
|
| - type: move_to |
| move_type: alignv2 |
| rel_object_uid: bottle10 |
| arm: right |
| delta_position: |
| x: -0.3 |
| y: 0.0 |
| yaw: null |
|
|
| - type: custom_motion |
| motion_list: |
| right: |
| - name: right |
| translation: [0.0, 0.2, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: false |
| rel_object_uid: bottle10 |
| type: object_frame |
| - name: right |
| translation: [0.0, 0.15, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: false |
| rel_object_uid: bottle10 |
| type: object_frame |
| - name: right |
| cnt: 15 |
| grasp: true |
| type: pending |
| - name: right |
| translation: [0.0, 0.3, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: true |
| rel_object_uid: bottle10 |
| type: object_frame |
|
|
| - type: move_to |
| move_type: alignv2 |
| rel_object_uid: basket |
| arm: right |
| grasp: true |
| delta_position: |
| x: -0.23 |
| y: 0.0 |
| yaw: null |
|
|
| - type: custom_motion |
| motion_list: |
| right: |
| - name: right |
| translation: [0.0, 0.25, 0.065] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: true |
| rel_object_uid: basket |
| type: object_frame |
| - name: right |
| cnt: 15 |
| grasp: false |
| type: pending |
|
|
| - type: move_to |
| move_type: alignv2 |
| rel_object_uid: bottle9 |
| arm: right |
| delta_position: |
| x: -0.3 |
| y: 0.0 |
| yaw: null |
|
|
| - type: custom_motion |
| motion_list: |
| right: |
| - name: right |
| translation: [0.0, 0.2, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: false |
| rel_object_uid: bottle9 |
| type: object_frame |
| - name: right |
| translation: [0.0, 0.15, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: false |
| rel_object_uid: bottle9 |
| type: object_frame |
| - name: right |
| cnt: 15 |
| grasp: true |
| type: pending |
| - name: right |
| translation: [0.0, 0.3, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: true |
| rel_object_uid: bottle9 |
| type: object_frame |
|
|
| - type: move_to |
| move_type: alignv2 |
| rel_object_uid: basket |
| arm: right |
| grasp: true |
| delta_position: |
| x: -0.17 |
| y: 0.0 |
| yaw: null |
|
|
| - type: custom_motion |
| motion_list: |
| right: |
| - name: right |
| translation: [0.0, 0.25, 0.125] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: true |
| rel_object_uid: basket |
| type: object_frame |
| - name: right |
| cnt: 15 |
| grasp: false |
| type: pending |
|
|
| - type: move_to |
| move_type: alignv2 |
| rel_object_uid: bottle11 |
| arm: right |
| delta_position: |
| x: -0.3 |
| y: 0.0 |
| yaw: null |
|
|
| - type: custom_motion |
| motion_list: |
| right: |
| - name: right |
| translation: [0.0, 0.2, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: false |
| rel_object_uid: bottle11 |
| type: object_frame |
| - name: right |
| translation: [0.0, 0.15, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: false |
| rel_object_uid: bottle11 |
| type: object_frame |
| - name: right |
| cnt: 15 |
| grasp: true |
| type: pending |
| - name: right |
| translation: [0.0, 0.3, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: true |
| rel_object_uid: bottle11 |
| type: object_frame |
|
|
| - type: move_to |
| move_type: alignv2 |
| rel_object_uid: basket |
| arm: right |
| grasp: true |
| delta_position: |
| x: -0.23 |
| y: 0.06 |
| yaw: null |
|
|
| - type: custom_motion |
| motion_list: |
| right: |
| - name: right |
| translation: [0.06, 0.25, 0.065] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: true |
| rel_object_uid: basket |
| type: object_frame |
| - name: right |
| cnt: 15 |
| grasp: false |
| type: pending |
|
|
| - type: move_to |
| move_type: alignv2 |
| rel_object_uid: bottle8 |
| arm: right |
| delta_position: |
| x: -0.3 |
| y: 0.0 |
| yaw: null |
|
|
| - type: custom_motion |
| motion_list: |
| right: |
| - name: right |
| translation: [0.0, 0.2, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: false |
| rel_object_uid: bottle8 |
| type: object_frame |
| - name: right |
| translation: [0.0, 0.15, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: false |
| rel_object_uid: bottle8 |
| type: object_frame |
| - name: right |
| cnt: 15 |
| grasp: true |
| type: pending |
| - name: right |
| translation: [0.0, 0.3, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: true |
| rel_object_uid: bottle8 |
| type: object_frame |
|
|
| - type: move_to |
| move_type: alignv2 |
| rel_object_uid: basket |
| arm: right |
| grasp: true |
| delta_position: |
| x: -0.17 |
| y: 0.06 |
| yaw: null |
|
|
| - type: custom_motion |
| motion_list: |
| right: |
| - name: right |
| translation: [0.06, 0.25, 0.125] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: true |
| rel_object_uid: basket |
| type: object_frame |
| - name: right |
| cnt: 15 |
| grasp: false |
| type: pending |
|
|
| - type: move_to |
| move_type: alignv2 |
| rel_object_uid: bottle12 |
| arm: right |
| delta_position: |
| x: -0.3 |
| y: 0.0 |
| yaw: null |
|
|
| - type: custom_motion |
| motion_list: |
| right: |
| - name: right |
| translation: [0.0, 0.2, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: false |
| rel_object_uid: bottle12 |
| type: object_frame |
| - name: right |
| translation: [0.0, 0.15, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: false |
| rel_object_uid: bottle12 |
| type: object_frame |
| - name: right |
| cnt: 15 |
| grasp: true |
| type: pending |
| - name: right |
| translation: [0.0, 0.3, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: true |
| rel_object_uid: bottle12 |
| type: object_frame |
|
|
| - type: move_to |
| move_type: alignv2 |
| rel_object_uid: basket |
| arm: right |
| grasp: true |
| delta_position: |
| x: -0.24 |
| y: 0.13 |
| yaw: null |
|
|
| - type: custom_motion |
| motion_list: |
| right: |
| - name: right |
| translation: [0.13, 0.25, 0.06] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: true |
| rel_object_uid: basket |
| type: object_frame |
| - name: right |
| cnt: 15 |
| grasp: false |
| type: pending |
|
|
| - type: move_to |
| move_type: alignv2 |
| rel_object_uid: bottle7 |
| arm: right |
| delta_position: |
| x: -0.3 |
| y: 0.0 |
| yaw: null |
|
|
| - type: custom_motion |
| motion_list: |
| right: |
| - name: right |
| translation: [0.0, 0.2, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: false |
| rel_object_uid: bottle7 |
| type: object_frame |
| - name: right |
| translation: [0.0, 0.15, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: false |
| rel_object_uid: bottle7 |
| type: object_frame |
| - name: right |
| cnt: 15 |
| grasp: true |
| type: pending |
| - name: right |
| translation: [0.0, 0.3, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: true |
| rel_object_uid: bottle7 |
| type: object_frame |
|
|
| - type: move_to |
| move_type: alignv2 |
| rel_object_uid: basket |
| arm: right |
| grasp: true |
| delta_position: |
| x: -0.175 |
| y: 0.13 |
| yaw: null |
|
|
| - type: custom_motion |
| motion_list: |
| right: |
| - name: right |
| translation: [0.13, 0.25, 0.125] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: true |
| rel_object_uid: basket |
| type: object_frame |
| - name: right |
| cnt: 15 |
| grasp: false |
| type: pending |
|
|
| - type: move_to |
| move_type: alignv2 |
| rel_object_uid: bottle4 |
| arm: right |
| delta_position: |
| x: -0.3 |
| y: 0.0 |
| yaw: null |
|
|
| - type: custom_motion |
| motion_list: |
| right: |
| - name: right |
| translation: [0.0, 0.2, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: false |
| rel_object_uid: bottle4 |
| type: object_frame |
| - name: right |
| translation: [0.0, 0.15, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: false |
| rel_object_uid: bottle4 |
| type: object_frame |
| - name: right |
| cnt: 15 |
| grasp: true |
| type: pending |
| - name: right |
| translation: [0.0, 0.3, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: true |
| rel_object_uid: bottle4 |
| type: object_frame |
|
|
| - type: move_to |
| move_type: alignv2 |
| rel_object_uid: basket |
| arm: right |
| grasp: true |
| delta_position: |
| x: -0.3 |
| y: 0.185 |
| yaw: null |
|
|
| - type: custom_motion |
| motion_list: |
| right: |
| - name: right |
| translation: [0.185, 0.25, 0.003] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: true |
| rel_object_uid: basket |
| type: object_frame |
| - name: right |
| cnt: 15 |
| grasp: false |
| type: pending |
|
|
| - type: move_to |
| move_type: alignv2 |
| rel_object_uid: bottle5 |
| arm: right |
| delta_position: |
| x: -0.3 |
| y: 0.0 |
| yaw: null |
|
|
| - type: custom_motion |
| motion_list: |
| right: |
| - name: right |
| translation: [0.0, 0.2, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: false |
| rel_object_uid: bottle5 |
| type: object_frame |
| - name: right |
| translation: [0.0, 0.15, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: false |
| rel_object_uid: bottle5 |
| type: object_frame |
| - name: right |
| cnt: 15 |
| grasp: true |
| type: pending |
| - name: right |
| translation: [0.0, 0.3, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: true |
| rel_object_uid: bottle5 |
| type: object_frame |
|
|
| - type: move_to |
| move_type: alignv2 |
| rel_object_uid: basket |
| arm: right |
| grasp: true |
| delta_position: |
| x: -0.24 |
| y: 0.185 |
| yaw: null |
|
|
| - type: custom_motion |
| motion_list: |
| right: |
| - name: right |
| translation: [0.185, 0.25, 0.06] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: true |
| rel_object_uid: basket |
| type: object_frame |
| - name: right |
| cnt: 15 |
| grasp: false |
| type: pending |
|
|
| - type: move_to |
| move_type: alignv2 |
| rel_object_uid: bottle6 |
| arm: right |
| delta_position: |
| x: -0.3 |
| y: 0.0 |
| yaw: null |
|
|
| - type: custom_motion |
| motion_list: |
| right: |
| - name: right |
| translation: [0.0, 0.2, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: false |
| rel_object_uid: bottle6 |
| type: object_frame |
| - name: right |
| translation: [0.0, 0.15, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: false |
| rel_object_uid: bottle6 |
| type: object_frame |
| - name: right |
| cnt: 15 |
| grasp: true |
| type: pending |
| - name: right |
| translation: [0.0, 0.3, 0.0] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: true |
| rel_object_uid: bottle6 |
| type: object_frame |
|
|
| - type: move_to |
| move_type: alignv2 |
| rel_object_uid: basket |
| arm: right |
| grasp: true |
| delta_position: |
| x: -0.175 |
| y: 0.185 |
| yaw: null |
|
|
| - type: custom_motion |
| motion_list: |
| right: |
| - name: right |
| translation: [0.185, 0.25, 0.125] |
| orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] |
| grasp: true |
| rel_object_uid: basket |
| type: object_frame |
| - name: right |
| cnt: 15 |
| grasp: false |
| type: pending |
| robot: 0 |
| articulation: [] |
| goal: |
| - - type: manip/default/sr_based_genmanip_range |
| obj1_uid: bottle1 |
| x_type: relative |
| y_type: relative |
| z_type: relative |
| x_range: [-0.14, 0.03] |
| y_range: [-0.21, 0.04] |
| z_range: [-0.05, 0.05] |
| x_rel_object_uid: basket |
| y_rel_object_uid: basket |
| z_rel_object_uid: basket |
| - type: manip/default/sr_based_genmanip_range |
| obj1_uid: bottle2 |
| x_type: relative |
| y_type: relative |
| z_type: relative |
| x_range: [-0.14, 0.03] |
| y_range: [-0.21, 0.04] |
| z_range: [-0.05, 0.05] |
| x_rel_object_uid: basket |
| y_rel_object_uid: basket |
| z_rel_object_uid: basket |
| - type: manip/default/sr_based_genmanip_range |
| obj1_uid: bottle3 |
| x_type: relative |
| y_type: relative |
| z_type: relative |
| x_range: [-0.14, 0.03] |
| y_range: [-0.21, 0.04] |
| z_range: [-0.05, 0.05] |
| x_rel_object_uid: basket |
| y_rel_object_uid: basket |
| z_rel_object_uid: basket |
| - type: manip/default/sr_based_genmanip_range |
| obj1_uid: bottle4 |
| x_type: relative |
| y_type: relative |
| z_type: relative |
| x_range: [-0.14, 0.03] |
| y_range: [-0.21, 0.04] |
| z_range: [-0.05, 0.05] |
| x_rel_object_uid: basket |
| y_rel_object_uid: basket |
| z_rel_object_uid: basket |
| - type: manip/default/sr_based_genmanip_range |
| obj1_uid: bottle5 |
| x_type: relative |
| y_type: relative |
| z_type: relative |
| x_range: [-0.14, 0.03] |
| y_range: [-0.21, 0.04] |
| z_range: [-0.05, 0.05] |
| x_rel_object_uid: basket |
| y_rel_object_uid: basket |
| z_rel_object_uid: basket |
| - type: manip/default/sr_based_genmanip_range |
| obj1_uid: bottle6 |
| x_type: relative |
| y_type: relative |
| z_type: relative |
| x_range: [-0.14, 0.03] |
| y_range: [-0.21, 0.04] |
| z_range: [-0.05, 0.05] |
| x_rel_object_uid: basket |
| y_rel_object_uid: basket |
| z_rel_object_uid: basket |
| - type: manip/default/sr_based_genmanip_range |
| obj1_uid: bottle7 |
| x_type: relative |
| y_type: relative |
| z_type: relative |
| x_range: [-0.14, 0.03] |
| y_range: [-0.21, 0.04] |
| z_range: [-0.05, 0.05] |
| x_rel_object_uid: basket |
| y_rel_object_uid: basket |
| z_rel_object_uid: basket |
| - type: manip/default/sr_based_genmanip_range |
| obj1_uid: bottle8 |
| x_type: relative |
| y_type: relative |
| z_type: relative |
| x_range: [-0.14, 0.03] |
| y_range: [-0.21, 0.04] |
| z_range: [-0.05, 0.05] |
| x_rel_object_uid: basket |
| y_rel_object_uid: basket |
| z_rel_object_uid: basket |
| - type: manip/default/sr_based_genmanip_range |
| obj1_uid: bottle9 |
| x_type: relative |
| y_type: relative |
| z_type: relative |
| x_range: [-0.14, 0.03] |
| y_range: [-0.21, 0.04] |
| z_range: [-0.05, 0.05] |
| x_rel_object_uid: basket |
| y_rel_object_uid: basket |
| z_rel_object_uid: basket |
| - type: manip/default/sr_based_genmanip_range |
| obj1_uid: bottle10 |
| x_type: relative |
| y_type: relative |
| z_type: relative |
| x_range: [-0.14, 0.03] |
| y_range: [-0.21, 0.04] |
| z_range: [-0.05, 0.05] |
| x_rel_object_uid: basket |
| y_rel_object_uid: basket |
| z_rel_object_uid: basket |
| - type: manip/default/sr_based_genmanip_range |
| obj1_uid: bottle11 |
| x_type: relative |
| y_type: relative |
| z_type: relative |
| x_range: [-0.14, 0.03] |
| y_range: [-0.21, 0.04] |
| z_range: [-0.05, 0.05] |
| x_rel_object_uid: basket |
| y_rel_object_uid: basket |
| z_rel_object_uid: basket |
| - type: manip/default/sr_based_genmanip_range |
| obj1_uid: bottle12 |
| x_type: relative |
| y_type: relative |
| z_type: relative |
| x_range: [-0.14, 0.03] |
| y_range: [-0.21, 0.04] |
| z_range: [-0.05, 0.05] |
| x_rel_object_uid: basket |
| y_rel_object_uid: basket |
| z_rel_object_uid: basket |
| mode: manual |
| planner: curobo |
| instruction: Sort all the bottles into the basket. |
| layout_config: &id009 |
| ignored_objects: [] |
| type: random_custom_tableset |
| custom_tableset: |
| - bottle1: |
| random_range_x: 0.25 |
| random_range_y: -0.05 |
| random_range_w: 0.2 |
| random_range_h: 0.6 |
| random_range_angle: 0.0 |
| buffer_size: 0.05 |
| reset_orientation: true |
| orientation: [0.5, 0.5, -0.5, -0.5] |
| type: global_range |
| bottle2: |
| random_range_x: 0.25 |
| random_range_y: -0.05 |
| random_range_w: 0.2 |
| random_range_h: 0.6 |
| random_range_angle: 0.0 |
| buffer_size: 0.05 |
| reset_orientation: true |
| orientation: [0.5, 0.5, -0.5, -0.5] |
| type: global_range |
| bottle3: |
| random_range_x: 0.25 |
| random_range_y: -0.05 |
| random_range_w: 0.2 |
| random_range_h: 0.6 |
| random_range_angle: 0.0 |
| buffer_size: 0.05 |
| reset_orientation: true |
| orientation: [0.5, 0.5, -0.5, -0.5] |
| type: global_range |
| bottle4: |
| random_range_x: 0.25 |
| random_range_y: -0.05 |
| random_range_w: 0.2 |
| random_range_h: 0.6 |
| random_range_angle: 0.0 |
| buffer_size: 0.05 |
| reset_orientation: true |
| orientation: [0.5, 0.5, -0.5, -0.5] |
| type: global_range |
| bottle5: |
| random_range_x: 0.25 |
| random_range_y: -0.05 |
| random_range_w: 0.2 |
| random_range_h: 0.6 |
| random_range_angle: 0.0 |
| buffer_size: 0.05 |
| reset_orientation: true |
| orientation: [0.5, 0.5, -0.5, -0.5] |
| type: global_range |
| bottle6: |
| random_range_x: 0.25 |
| random_range_y: -0.05 |
| random_range_w: 0.2 |
| random_range_h: 0.6 |
| random_range_angle: 0.0 |
| buffer_size: 0.05 |
| reset_orientation: true |
| orientation: [0.5, 0.5, -0.5, -0.5] |
| type: global_range |
| bottle7: |
| random_range_x: 0.25 |
| random_range_y: -0.05 |
| random_range_w: 0.2 |
| random_range_h: 0.6 |
| random_range_angle: 0.0 |
| buffer_size: 0.05 |
| reset_orientation: true |
| orientation: [0.5, 0.5, -0.5, -0.5] |
| type: global_range |
| bottle8: |
| random_range_x: 0.25 |
| random_range_y: -0.05 |
| random_range_w: 0.2 |
| random_range_h: 0.6 |
| random_range_angle: 0.0 |
| buffer_size: 0.05 |
| reset_orientation: true |
| orientation: [0.5, 0.5, -0.5, -0.5] |
| type: global_range |
| bottle9: |
| random_range_x: 0.25 |
| random_range_y: -0.05 |
| random_range_w: 0.2 |
| random_range_h: 0.6 |
| random_range_angle: 0.0 |
| buffer_size: 0.05 |
| reset_orientation: true |
| orientation: [0.5, 0.5, -0.5, -0.5] |
| type: global_range |
| bottle10: |
| random_range_x: 0.25 |
| random_range_y: -0.05 |
| random_range_w: 0.2 |
| random_range_h: 0.6 |
| random_range_angle: 0.0 |
| buffer_size: 0.05 |
| reset_orientation: true |
| orientation: [0.5, 0.5, -0.5, -0.5] |
| type: global_range |
| bottle11: |
| random_range_x: 0.25 |
| random_range_y: -0.05 |
| random_range_w: 0.2 |
| random_range_h: 0.6 |
| random_range_angle: 0.0 |
| buffer_size: 0.05 |
| reset_orientation: true |
| orientation: [0.5, 0.5, -0.5, -0.5] |
| type: global_range |
| bottle12: |
| random_range_x: 0.25 |
| random_range_y: -0.05 |
| random_range_w: 0.2 |
| random_range_h: 0.6 |
| random_range_angle: 0.0 |
| buffer_size: 0.05 |
| reset_orientation: true |
| orientation: [0.5, 0.5, -0.5, -0.5] |
| type: global_range |
| mode: manual |
| num_episode: 5 |
| object_config: |
| basket: |
| type: existed_object |
| uid_list: |
| - "05" |
| is_not_rigid: true |
| without_colliders: true |
| bottle1: |
| type: load_object_from_path |
| path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' |
| max_cached_num: 1000 |
| relative_scale: 1.0 |
| mass: 0.1 |
| option: |
| - plain_replace |
| bottle2: |
| type: load_object_from_path |
| path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' |
| max_cached_num: 1000 |
| relative_scale: 1.0 |
| mass: 0.1 |
| option: |
| - plain_replace |
| bottle3: |
| type: load_object_from_path |
| path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' |
| max_cached_num: 1000 |
| relative_scale: 1.0 |
| mass: 0.1 |
| option: |
| - plain_replace |
| bottle4: |
| type: load_object_from_path |
| path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' |
| max_cached_num: 1000 |
| relative_scale: 1.0 |
| mass: 0.1 |
| option: |
| - plain_replace |
| bottle5: |
| type: load_object_from_path |
| path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' |
| max_cached_num: 1000 |
| relative_scale: 1.0 |
| mass: 0.1 |
| option: |
| - plain_replace |
| bottle6: |
| type: load_object_from_path |
| path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' |
| max_cached_num: 1000 |
| relative_scale: 1.0 |
| mass: 0.1 |
| option: |
| - plain_replace |
| bottle7: |
| type: load_object_from_path |
| path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' |
| max_cached_num: 1000 |
| relative_scale: 1.0 |
| mass: 0.1 |
| option: |
| - plain_replace |
| bottle8: |
| type: load_object_from_path |
| path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' |
| max_cached_num: 1000 |
| relative_scale: 1.0 |
| mass: 0.1 |
| option: |
| - plain_replace |
| bottle9: |
| type: load_object_from_path |
| path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' |
| max_cached_num: 1000 |
| relative_scale: 1.0 |
| option: |
| - plain_replace |
| bottle10: |
| type: load_object_from_path |
| path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' |
| max_cached_num: 1000 |
| relative_scale: 1.0 |
| mass: 0.1 |
| option: |
| - plain_replace |
| bottle11: |
| type: load_object_from_path |
| path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' |
| max_cached_num: 1000 |
| relative_scale: 1.0 |
| mass: 0.1 |
| option: |
| - plain_replace |
| bottle12: |
| type: load_object_from_path |
| path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' |
| max_cached_num: 1000 |
| relative_scale: 1.0 |
| mass: 0.1 |
| option: |
| - plain_replace |
| preprocess_config: [] |
| robots: |
| - &id011 |
| type: manip/lift2/R5a |
| position: [0.75, 0.3, -0.65] |
| orientation: [0.0, 0.0, 0.0, -1.0] |
| table_uid: table |
| task_name: ebench/long/bottle |
| usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene |
| evaluation_configs: |
| - domain_randomization: |
| cameras: |
| config_path: configs/cameras/fixed_camera_lift2_simbox.yml |
| type: fixed |
| num_test: 10 |
| num_steps: 3000 |
| robots: |
| - type: manip/lift2/R5a |
| position: [0.9, 0.3, -0.65] |
| orientation: [0.0, 0.0, 0.0, -1.0] |
| table_uid: table |
| task_name: ebench/long/bottle |
| usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene |
