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