demonstration_configs:
- domain_randomization: &id003
    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_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f
        type: mdl
        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
      - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f
        type: mdl
        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
      - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f
        type: mdl
        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
      - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex
        type: texture
        assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$'
      - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex
        type: texture
        assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$'
    rewrite_instruction: false
  generation_config:
    action_path: &id004
      mode: manual
      actions:
      - type: custom_motion
        motion_list:
          right:
          - name: right
            translation: [0.0, 0.0, 0.25]
            orientation: [0.5, -0.5, 0.5, 0.5]
            grasp: false
            rel_object_uid: apple
            type: object_frame
          - name: right
            translation: [0.0, 0.0, 0.15]
            orientation: [0.5, -0.5, 0.5, 0.5]
            grasp: false
            rel_object_uid: apple
            type: object_frame
      - type: custom_motion
        motion_list:
          right:
          - name: right
            translation: [0.3, 0.1, 0.2]
            orientation: [0.707, 0.0, 0.0, 0.707]
            grasp: true
            rel_arm: right
            type: robot_frame
          left:
          - name: left
            translation: [0.3, -0.05, 0.2]
            orientation: [0.5, -0.5, 0.5, -0.5]
            grasp: false
            rel_arm: left
            type: robot_frame
      - type: custom_motion
        motion_list:
          right:
          - name: right
            cnt: 1
            grasp: true
            type: pending
          left:
          - name: left
            translation: [0.3, -0.13, 0.2]
            orientation: [0.5, -0.5, 0.5, -0.5]
            grasp: false
            rel_arm: left
            type: robot_frame
      - type: custom_motion
        motion_list:
          right:
          - name: right
            cnt: 15
            grasp: true
            type: pending
          left:
          - name: left
            cnt: 15
            grasp: true
            type: pending
      - type: custom_motion
        motion_list:
          right:
          - name: right
            translation: [0.3, 0.0, 0.2]
            orientation: [0.707, 0.0, 0.0, 0.707]
            grasp: false
            rel_arm: right
            type: robot_frame
          - name: right
            translation: [0.0, 0.0, 0.25]
            orientation: [0.5, -0.5, 0.5, 0.5]
            grasp: false
            rel_object_uid: orange
            type: object_frame
          - name: right
            translation: [0.0, 0.0, 0.15]
            orientation: [0.5, -0.5, 0.5, 0.5]
            grasp: false
            rel_object_uid: orange
            type: object_frame
          - name: right
            translation: [0.3, 0.1, 0.2]
            orientation: [0.707, 0.0, 0.0, 0.707]
            grasp: true
            rel_arm: right
            type: robot_frame
          left:
          - name: left
            translation: [0.3, 0.0, 0.2]
            orientation: [0.5, -0.5, 0.5, -0.5]
            grasp: true
            rel_arm: left
            type: robot_frame
          - name: left
            translation: [0.0, 0.35, 0.0]
            orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537]
            grasp: true
            rel_object_uid: container
            type: object_frame
          - name: left
            translation: [0.3, -0.05, 0.2]
            orientation: [0.5, -0.5, 0.5, -0.5]
            grasp: false
            rel_arm: left
            type: robot_frame
      - type: custom_motion
        motion_list:
          right:
          - name: right
            cnt: 1
            grasp: true
            type: pending
          left:
          - name: left
            translation: [0.3, -0.13, 0.2]
            orientation: [0.5, -0.5, 0.5, -0.5]
            grasp: false
            rel_arm: left
            type: robot_frame
      - type: custom_motion
        motion_list:
          right:
          - name: right
            cnt: 15
            grasp: true
            type: pending
          left:
          - name: left
            cnt: 15
            grasp: true
            type: pending
      - type: custom_motion
        motion_list:
          right:
          - name: right
            translation: [0.3, 0.0, 0.2]
            orientation: [0.707, 0.0, 0.0, 0.707]
            grasp: false
            rel_arm: right
            type: robot_frame
          - name: right
            translation: [0.0, 0.0, 0.25]
            orientation: [0.5, -0.5, 0.5, 0.5]
            grasp: false
            rel_object_uid: apple_01
            type: object_frame
          - name: right
            translation: [0.0, 0.0, 0.15]
            orientation: [0.5, -0.5, 0.5, 0.5]
            grasp: false
            rel_object_uid: apple_01
            type: object_frame
          - name: right
            translation: [0.3, 0.1, 0.2]
            orientation: [0.707, 0.0, 0.0, 0.707]
            grasp: true
            rel_arm: right
            type: robot_frame
          left:
          - name: left
            translation: [0.3, 0.0, 0.2]
            orientation: [0.5, -0.5, 0.5, -0.5]
            grasp: true
            rel_arm: left
            type: robot_frame
          - name: left
            translation: [0.0, 0.35, 0.0]
            orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537]
            grasp: true
            rel_object_uid: container
            type: object_frame
          - name: left
            translation: [0.3, -0.05, 0.2]
            orientation: [0.5, -0.5, 0.5, -0.5]
            grasp: false
            rel_arm: left
            type: robot_frame
      - type: custom_motion
        motion_list:
          right:
          - name: right
            cnt: 1
            grasp: true
            type: pending
          left:
          - name: left
            translation: [0.3, -0.13, 0.2]
            orientation: [0.5, -0.5, 0.5, -0.5]
            grasp: false
            rel_arm: left
            type: robot_frame
      - type: custom_motion
        motion_list:
          right:
          - name: right
            cnt: 15
            grasp: true
            type: pending
          left:
          - name: left
            cnt: 15
            grasp: true
            type: pending
      - type: custom_motion
        motion_list:
          right:
          - name: right
            translation: [0.3, 0.0, 0.2]
            orientation: [0.707, 0.0, 0.0, 0.707]
            grasp: false
            rel_arm: right
            type: robot_frame
          - name: right
            translation: [0.2, 0.18, 0.0]
            orientation: [0.2673, 0.2673, -0.65464, -0.65464]
            grasp: false
            rel_object_uid: cup
            type: object_frame
          - name: right
            translation: [0.144852, 0.124954, 0.0]
            orientation: [0.2673, 0.2673, -0.65464, -0.65464]
            grasp: false
            rel_object_uid: cup
            type: object_frame
          - name: right
            translation: [0.2, 0.0, 0.3]
            orientation: [0.927, 0.0, 0.375, 0.0]
            grasp: true
            rel_arm: right
            type: robot_frame
          left:
          - name: left
            translation: [0.3, 0.0, 0.2]
            orientation: [0.5, -0.5, 0.5, -0.5]
            grasp: true
            rel_arm: left
            type: robot_frame
          - name: left
            translation: [0.0, 0.35, 0.0]
            orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537]
            grasp: true
            rel_object_uid: container
            type: object_frame
          - name: left
            cnt: 50
            grasp: false
            rel_arm: left
            type: reset
      - type: move_to
        move_type: alignv2
        arm: right
        grasp: true
        rel_object_uid: container
        delta_position:
          x: null
          y: -0.1
          yaw: null
      - type: custom_motion
        motion_list:
          right:
          - name: right
            translation: [0.2, 0.17, 0.2]
            orientation: [0.803, -0.464, 0.325, -0.187]
            grasp: true
            rel_arm: right
            type: robot_frame
      robot: 0
    articulation: []
    goal:
    - - &id005
        obj1_uid:
        - apple
        obj2_uid:
        - container
        position:
        - in
      - &id006
        obj1_uid:
        - apple_01
        obj2_uid:
        - container
        position:
        - in
      - obj1_uid:
        - orange
        obj2_uid:
        - container
        position:
        - in
      - type: manip/default/sr_based_genmanip_axis_align
        obj1_uid: cup
        obj2_uid: container
        obj1_axis: y
        obj2_axis: y
        comparison: '>='
        threshold_deg: 40.0
      - type: manip/default/sr_based_genmanip_range
        obj1_uid: cup
        x_type: relative
        y_type: relative
        z_type: relative
        x_range: [-0.04, 0.14]
        y_range: [-0.08, 0.05]
        z_range: [0.1, 0.3]
        x_rel_object_uid: container
        y_rel_object_uid: container
        z_rel_object_uid: container
    mode: manual
    planner: curobo
  instruction: Make a fruit milkshake in the cup.
  layout_config: &id009
    ignored_objects: []
    type: random_custom_tableset
    custom_tableset:
    - apple:
        position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116]
        orientation: [1.0, 0.0, 0.0, 0.0]
        reset_orientation: true
        additional_height: 0.01
        w: 0.15
        h: 0.15
        angle: 0
        angle_bilateral: false
        type: centric_range
        buffer_size: 0.05
      apple_01:
        position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238]
        orientation: [1.0, 0.0, 0.0, 0.0]
        reset_orientation: true
        additional_height: 0.01
        w: 0.15
        h: 0.15
        angle: 0
        angle_bilateral: false
        type: centric_range
        buffer_size: 0.05
      orange:
        position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019]
        orientation: [1.0, 0.0, 0.0, 0.0]
        reset_orientation: true
        additional_height: 0.01
        w: 0.1
        h: 0.1
        angle: 0
        angle_bilateral: false
        type: centric_range
        buffer_size: 0.05
      container:
        w: 0.15
        h: 0.15
        angle: 0
        angle_bilateral: false
        type: centric_range
      cup:
        w: 0.15
        h: 0.15
        angle: 0
        angle_bilateral: false
        type: centric_range
        buffer_size: 0.05
      mango:
        w: 0.15
        h: 0.15
        angle: 0
        angle_bilateral: false
        type: centric_range
  mode: manual
  num_episode: 5
  object_config: &id010
    mango:
      type: existed_object
      uid_list:
      - mango
      is_not_rigid: true
      without_colliders: true
    apple:
      type: load_object_from_path
      path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd'
      max_cached_num: 1000
      relative_scale: 0.9
      mass: 0.1
      option:
      - plain_replace
    orange:
      type: load_object_from_path
      path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd'
      max_cached_num: 1000
      relative_scale: 0.9
      mass: 0.1
      option:
      - plain_replace
    apple_01:
      type: load_object_from_path
      path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd'
      max_cached_num: 1000
      relative_scale: 0.9
      mass: 0.1
      option:
      - plain_replace
    container:
      type: existed_object
      uid_list:
      - container
      is_not_rigid: true
      without_colliders: true
    cup:
      type: existed_object
      uid_list:
      - cup
      is_not_rigid: true
      without_colliders: true
  preprocess_config: []
  robots:
  - &id011
    type: manip/lift2/R5a
    position: [0.15, -0.8, 0.2]
    orientation: [0.70711, 0.0, 0.0, 0.70711]
  table_uid: table
  task_name: ebench/long/fruit
  usd_name: scene_usds/ebench/long_horizon/scene_fruit/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: [0.15, -0.8, 0.2]
    orientation: [0.70711, 0.0, 0.0, 0.70711]
  table_uid: table
  task_name: ebench/long/fruit
  usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene