| demonstration_configs: | |
| - domain_randomization: | |
| cameras: | |
| config_path: configs/cameras/fixed_camera.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: | |
| action_path: | |
| mode: auto | |
| robot: 0 | |
| articulation: [] | |
| goal: | |
| - - obj1_uid: | |
| - '0' | |
| obj2_uid: | |
| - '1' | |
| position: | |
| - top | |
| fixed_position: true | |
| allow_fixed_grasp: true | |
| force_fixed_grasp: true | |
| mode: manual | |
| planner: curobo | |
| instruction: put the banana on the top of the vintage rusty frying pan. | |
| layout_config: | |
| ignored_objects: [] | |
| type: None | |
| mode: manual | |
| num_episode: 10 | |
| object_config: | |
| '0': | |
| type: existed_object | |
| uid_list: | |
| - fb1b6fc41f7e49adbf467e5e5988d190 | |
| '1': | |
| type: existed_object | |
| uid_list: | |
| - 1fdc84a7be2c4348b281490c89d76062 | |
| preprocess_config: | |
| - config: | |
| config: default | |
| type: convexDecomposition | |
| type: collider | |
| - type: ccd | |
| robots: | |
| - config: | |
| gripper_type: panda_hand | |
| type: franka | |
| table_uid: aa49db8a801d402dac6cf1579536502c | |
| task_name: Banana/banana_plate_4035_none-wow-wot-woh-now | |
| usd_name: scene_usds/debug_scenes/banana_plate_scenes/base | |
| evaluation_configs: | |
| - domain_randomization: | |
| cameras: | |
| config_path: configs/cameras/fixed_camera.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: | |
| action_path: | |
| mode: auto | |
| robot: 0 | |
| articulation: [] | |
| goal: | |
| - - obj1_uid: | |
| - '0' | |
| obj2_uid: | |
| - '1' | |
| position: | |
| - top | |
| fixed_position: true | |
| allow_fixed_grasp: true | |
| force_fixed_grasp: true | |
| mode: manual | |
| planner: curobo | |
| instruction: put the banana on the top of the vintage rusty frying pan. | |
| layout_config: | |
| ignored_objects: [] | |
| type: None | |
| mode: manual | |
| num_test: 10 | |
| object_config: | |
| '0': | |
| type: existed_object | |
| uid_list: | |
| - fb1b6fc41f7e49adbf467e5e5988d190 | |
| '1': | |
| type: existed_object | |
| uid_list: | |
| - 1fdc84a7be2c4348b281490c89d76062 | |
| preprocess_config: | |
| - config: | |
| config: default | |
| type: convexDecomposition | |
| type: collider | |
| robots: | |
| - config: | |
| gripper_type: panda_hand | |
| type: franka | |
| table_uid: aa49db8a801d402dac6cf1579536502c | |
| task_name: Banana/banana_plate_4035_none-wow-wot-woh-now | |
| usd_name: scene_usds/debug_scenes/banana_plate_scenes/base | |