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