demonstration_configs:
- domain_randomization: &id001
    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
    rewrite_instruction: false
  generation_config: &id002
    action_path:
      mode: manual
      actions:
      - type: move_to
        move_type: delta
        delta_position:
          x: 0.4
          y: -0.1
          yaw: 0.0
      - type: custom_motion
        motion_list:
          right:
          - name: right
            type: object_frame
            rel_object_uid: '0'
            translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086]
            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
            grasp: false
          - name: right
            type: object_frame
            rel_object_uid: '0'
            translation: [-0.2, 0.25, 0.07]
            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
            grasp: false
          - name: right
            type: object_frame
            rel_object_uid: '0'
            translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535]
            orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126]
            grasp: false
          - name: right
            type: object_frame
            rel_object_uid: '0'
            translation: [-0.1, 0.2, 0.05]
            orientation: [0.707, -0.612, 0.354, 0]
            grasp: true
      - type: move_to
        move_type: delta
        arm: right
        grasp: true
        delta_position:
          x: -0.3
          y: 0.0
          yaw: 0.0
      robot: 0
    articulation: []
    goal:
    - - type: manip/default/sr_based_genmanip_range
        obj1_uid: '0'
        x_type: absolute
        x_range: [-10,-2.0]
        y_type: none
        z_type: absolute
        z_range: [-1,10]
    mode: manual
    planner: curobo
  instruction: Pick up the apple from the shelf and take it out.    # update instruction
  layout_config: &id003
    ignored_objects: []
    type: random_custom_tableset
    custom_tableset:
    - 0: &id090
        pos_x: -1.897
        pos_y: -1.55
        pos_z: 0.31
        additional_height: 0
        random_range_angle: 0
        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
        reset_orientation: true
        type: fixed_global_range
        skip_on_table_check: true
      2: &id092
        pos_x: -1.932
        pos_y: -1.55
        pos_z: -0.08
        additional_height: 0
        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
        reset_orientation: true
        random_range_angle: 0
        type: fixed_global_range
        skip_on_table_check: true
      3: &id093
        pos_x: -1.816
        pos_y: -1.917
        pos_z: -0.1
        additional_height: 0
        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
        reset_orientation: true
        random_range_angle: 0
        type: fixed_global_range
        skip_on_table_check: true
    - 0: *id092
      2: *id093
      3: *id090
  mode: manual
  num_episode: 400
  object_config: &id004
    # '0':
    #   type: existed_object
    #   uid_list:
    #   - '_0'    # update uid
    '0':
      type: load_object_from_path
      filter_rule: []
      max_cached_num: 10
      path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$"
      relative_scale: 0.8
      option:
      - plain_replace
      without_colliders: false
    '1':
      type: existed_object
      uid_list:
      - '_03_01'    # update uid
    '2':
      type: existed_object
      uid_list:
      - '_07'    # juice
    '3':
      type: existed_object
      uid_list:
      - '_02_01'    # orange
  preprocess_config: []
  robots:
  - &id006
    type: manip/lift2/R5a
    position: [-3.0, -1.37, -0.45]  # update to fit the scene
  # update following
  table_uid: table
  task_name: ebench/simple_pnpa/task8_eval
  usd_name: scene_usds/ebench/simple_pnp/task8/scene

evaluation_configs:
- domain_randomization: *id001
  generation_config: *id002
  instruction: "Pick up the apple from the shelf and take it out."
  layout_config: *id003
  mode: manual
  num_test: 100
  num_steps: 600
  object_config: *id004
  preprocess_config: []
  robots:
  - *id006
  table_uid: table
  task_name: ebench/simple_pnp/task8_obj
  usd_name: scene_usds/ebench/simple_pnp/task8/scene