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/layout/DomeLight
        type: dome_light
        assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$'
      - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3
        type: mdl
        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
      - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3
        type: mdl
        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
    rewrite_instruction: false
  generation_config:
    action_path:
      mode: manual
      actions:
      # ================================== left detergent ===================================
      - type: custom_motion
        motion_list:
          left:
          - name: left
            translation: [-0.14, 0.15, 0.0]
            orientation: [0.70711, -0.70711, 0.0, 0.0]
            grasp: false
            rel_object_uid: detergent2
            type: object_frame
          - name: left
            translation: [-0.14, 0.04, 0.0]
            orientation: [0.70711, -0.70711, 0.0, 0.0]
            grasp: false
            rel_object_uid: detergent2
            type: object_frame
          - name: left
            translation: [-0.14, 0.04, 0.0]
            orientation: [0.70711, -0.70711, 0.0, 0.0]
            grasp: true
            rel_object_uid: detergent2
            type: object_frame
          - name: left
            translation: [0.25, -0.05, 0.28]
            orientation: [0.70711, 0.0, 0.0, -0.70711]
            grasp: true
            rel_arm: left
            type: robot_frame
      - type: custom_motion
        motion_list:
          left:
          - name: left
            grasp: true
            cnt: 1
            type: pending
          right:
          - name: right
            translation: [0.2, -0.03, 0.0]
            orientation: [0.0, 0.0, 0.70711, 0.70711]
            grasp: false
            rel_object_uid: detergent2
            type: object_frame
          - name: right
            translation: [0.14, -0.03, 0.0]
            orientation: [0.0, 0.0, 0.70711, 0.70711]
            grasp: false
            rel_object_uid: detergent2
            type: object_frame
          - name: right
            translation: [0.14, -0.03, 0.0]
            orientation: [0.0, 0.0, 0.70711, 0.70711]
            grasp: true
            rel_object_uid: detergent2
            type: object_frame
      - type: custom_motion
        motion_list:
          left:
          - name: left
            translation: [0.25, 0.0, 0.28]
            orientation: [0.70711, 0.0, 0.0, -0.70711]
            grasp: false
            rel_arm: left
            type: robot_frame
          - name: left
            cnt: 50
            grasp: false
            type: reset
          right:
          - name: right
            translation: [0.14, -0.03, 0.0]
            orientation: [0.0, 0.0, 0.70711, 0.70711]
            grasp: true
            rel_object_uid: detergent2
            type: object_frame
      - type: custom_motion
        motion_list:
          right:
          - name: right
            translation: [0.14, 0.02, 0.0]
            orientation: [0.0, 0.0, 0.70711, 0.70711]
            grasp: true
            rel_object_uid: detergent2
            type: object_frame
          - name: right
            translation: [-0.2, 0.25, 0.0]
            orientation: [0.70711, -0.70711, 0.0, 0.0]
            grasp: true
            rel_object_uid: basket
            type: object_frame
          - name: right
            translation: [-0.14, 0.21, 0.0]
            orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985]
            grasp: true 
            rel_object_uid: basket
            type: object_frame
          - name: right
            translation: [-0.14, 0.21, 0.0]
            orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985]
            grasp: false 
            rel_object_uid: basket
            type: object_frame

      # ================================== right detergent ==================================
      - type: custom_motion
        motion_list:
          left:
          - name: left
            translation: [-0.14, 0.15, 0.0]
            orientation: [0.70711, -0.70711, 0.0, 0.0]
            grasp: false
            rel_object_uid: detergent3
            type: object_frame
          - name: left
            translation: [-0.14, 0.04, 0.0]
            orientation: [0.70711, -0.70711, 0.0, 0.0]
            grasp: false
            rel_object_uid: detergent3
            type: object_frame
          - name: left
            translation: [-0.14, 0.04, 0.0]
            orientation: [0.70711, -0.70711, 0.0, 0.0]
            grasp: true
            rel_object_uid: detergent3
            type: object_frame
          - name: left
            translation: [-0.3, 0.2, -0.4]
            orientation: [0.5, -0.5, -0.5, -0.5]
            grasp: true
            rel_object_uid: basket
            type: object_frame
          right:
          - name: right
            cnt: 50
            grasp: false
            type: reset
      - type: custom_motion
        motion_list:
          left:
          - name: left
            grasp: true
            cnt: 1
            type: pending
          right:
          - name: right
            translation: [0.2, -0.03, 0.0]
            orientation: [0.0, 0.0, 0.70711, 0.70711]
            grasp: false
            rel_object_uid: detergent3
            type: object_frame
          - name: right
            translation: [0.14, -0.03, 0.0]
            orientation: [0.0, 0.0, 0.70711, 0.70711]
            grasp: false
            rel_object_uid: detergent3
            type: object_frame
          - name: right
            translation: [0.14, -0.03, 0.0]
            orientation: [0.0, 0.0, 0.70711, 0.70711]
            grasp: true
            rel_object_uid: detergent3
            type: object_frame
      - type: custom_motion
        motion_list:
          left:
          - name: left
            translation: [0.25, 0.0, 0.28]
            orientation: [0.70711, 0.0, 0.0, -0.70711]
            grasp: false
            rel_arm: left
            type: robot_frame
          - name: left
            cnt: 50
            grasp: false
            type: reset
          right:
          - name: right
            translation: [0.14, -0.03, 0.0]
            orientation: [0.0, 0.0, 0.70711, 0.70711]
            grasp: true
            rel_object_uid: detergent3
            type: object_frame
      - type: custom_motion
        motion_list:
          right:
          - name: right
            translation: [0.14, 0.02, 0.0]
            orientation: [0.0, 0.0, 0.70711, 0.70711]
            grasp: true
            rel_object_uid: detergent3
            type: object_frame
          - name: right
            translation: [-0.2, 0.25, 0.0]
            orientation: [0.70711, -0.70711, 0.0, 0.0]
            grasp: true
            rel_object_uid: basket
            type: object_frame
          - name: right
            translation: [-0.14, 0.21, 0.0]
            orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985]
            grasp: true
            rel_object_uid: basket
            type: object_frame
          - name: right
            translation: [-0.14, 0.21, 0.0]
            orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985]
            grasp: false 
            rel_object_uid: basket
            type: object_frame
      # ================================== mid detergent ==================================
      - type: custom_motion
        motion_list:
          left:
          - name: left
            translation: [-0.14, 0.15, 0.0]
            orientation: [0.70711, -0.70711, 0.0, 0.0]
            grasp: false
            rel_object_uid: detergent1
            type: object_frame
          - name: left
            translation: [-0.14, 0.04, 0.0]
            orientation: [0.70711, -0.70711, 0.0, 0.0]
            grasp: false
            rel_object_uid: detergent1
            type: object_frame
          - name: left
            translation: [-0.14, 0.04, 0.0]
            orientation: [0.70711, -0.70711, 0.0, 0.0]
            grasp: true
            rel_object_uid: detergent1
            type: object_frame
          - name: left
            translation: [0.25, -0.05, 0.28]
            orientation: [0.70711, 0.0, 0.0, -0.70711]
            grasp: true
            rel_arm: left
            type: robot_frame
          right:
          - name: right
            cnt: 50
            grasp: false
            type: reset
      - type: custom_motion
        motion_list:
          left:
          - name: left
            grasp: true
            cnt: 1
            type: pending
          right:
          - name: right
            translation: [0.2, -0.03, 0.0]
            orientation: [0.0, 0.0, 0.70711, 0.70711]
            grasp: false
            rel_object_uid: detergent1
            type: object_frame
          - name: right
            translation: [0.14, -0.03, 0.0]
            orientation: [0.0, 0.0, 0.70711, 0.70711]
            grasp: false
            rel_object_uid: detergent1
            type: object_frame
          - name: right
            translation: [0.14, -0.03, 0.0]
            orientation: [0.0, 0.0, 0.70711, 0.70711]
            grasp: true
            rel_object_uid: detergent1
            type: object_frame
      - type: custom_motion
        motion_list:
          left:
          - name: left
            translation: [0.25, 0.0, 0.28]
            orientation: [0.70711, 0.0, 0.0, -0.70711]
            grasp: false
            rel_arm: left
            type: robot_frame
          - name: left
            cnt: 50
            grasp: false
            type: reset
          right:
          - name: right
            translation: [0.14, -0.03, 0.0]
            orientation: [0.0, 0.0, 0.70711, 0.70711]
            grasp: true
            rel_object_uid: detergent1
            type: object_frame
      - type: custom_motion
        motion_list:
          right:
          - name: right
            translation: [0.14, 0.02, 0.0]
            orientation: [0.0, 0.0, 0.70711, 0.70711]
            grasp: true
            rel_object_uid: detergent1
            type: object_frame
          - name: right
            translation: [-0.2, 0.25, 0.0]
            orientation: [0.70711, -0.70711, 0.0, 0.0]
            grasp: true
            rel_object_uid: basket
            type: object_frame
          - name: right
            translation: [-0.14, 0.21, 0.0]
            orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985]
            grasp: true
            rel_object_uid: basket
            type: object_frame
          - name: right
            translation: [-0.14, 0.21, 0.0]
            orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985]
            grasp: false 
            rel_object_uid: basket
            type: object_frame

      robot: 0
    articulation: []
    goal:
    - - obj1_uid:
        - detergent1
        obj2_uid:
        - basket
        position:
        - top
      - obj1_uid:
        - detergent2
        obj2_uid:
        - basket
        position:
        - top
      - obj1_uid:
        - detergent3
        obj2_uid:
        - basket
        position:
        - top
    mode: manual
    planner: curobo
  instruction: Put all the detergents into the basket.
  layout_config: &id009
    ignored_objects: []
    type: random_custom_tableset
    custom_tableset:
    - detergent1:
        position: [0.90, 0.17, 1.1]
        orientation: [0.70711, 0.70711, 0.0, 0.0]
        reset_orientation: true
        w: 0.15
        h: 0.15
        angle: 0
        buffer_size: 0.05
        angle_bilateral: false
        type: centric_range
      detergent2:
        position: [0.80, 0.07, 1.1]
        orientation: [0.70711, 0.70711, 0.0, 0.0]
        reset_orientation: true
        w: 0.15
        h: 0.15
        angle: 0
        buffer_size: 0.05
        angle_bilateral: false
        type: centric_range
      detergent3:
        position: [0.80, 0.26, 1.1]
        orientation: [0.70711, 0.70711, 0.0, 0.0]
        reset_orientation: true
        w: 0.1
        h: 0.1
        angle: 0
        buffer_size: 0.05
        angle_bilateral: false
        type: centric_range
  mode: manual
  num_episode: 5
  object_config:
    detergent1:
      type: load_object_from_path
      path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd'
      max_cached_num: 1000
      relative_scale: 1.0
      mass: 0.1
      option:
      - plain_replace
    detergent2:
      type: load_object_from_path
      path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd'
      max_cached_num: 1000
      relative_scale: 1.0
      mass: 0.1
      option:
      - plain_replace
    detergent3:
      type: load_object_from_path
      path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd'
      max_cached_num: 1000
      relative_scale: 1.0
      mass: 0.1
      option:
      - plain_replace
    basket:
      type: existed_object
      uid_list:
      - "03"
      is_not_rigid: true
      without_colliders: true
  preprocess_config: []
  robots:
  - &id011
    type: manip/lift2/R5a
    position: [0.2, 0.0, 0.27]
    orientation: [1.0, 0.0, 0.0, 0.0]
  table_uid: table
  task_name: ebench/long/detergent
  usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene
evaluation_configs:
- domain_randomization:
    cameras:
      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
      type: fixed
  num_test: 100
  num_steps: 5000
  robots:
  - type: manip/lift2/R5a
    position: [0.1, 0.0, 0.27]
    orientation: [1.0, 0.0, 0.0, 0.0]
  table_uid: table
  task_name: ebench/long/detergent
  usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene