| demonstration_configs: [] | |
| evaluation_configs: | |
| - domain_randomization: | |
| cameras: | |
| config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml | |
| type: fixed | |
| object_data_path: objaverse_annotation_refined_container_selection | |
| random_environment: | |
| has_wall: false | |
| hdr: false | |
| robot_base_position: | |
| random_range: 0.05 | |
| robot_eepose: false | |
| table_texture: false | |
| table_type: false | |
| wall_texture: false | |
| rewrite_instruction: true | |
| generation_config: | |
| action_path: | |
| mode: auto | |
| robot: 0 | |
| articulation: [] | |
| goal: | |
| - - allow_fixed_grasp: true | |
| fixed_position: true | |
| force_fixed_grasp: true | |
| obj1_uid: | |
| - obj1_0 | |
| obj2_uid: | |
| - obj2 | |
| position: | |
| - top | |
| mode: random_all | |
| planner: curobo | |
| reset_tcp: true | |
| instruction: '' | |
| layout_config: | |
| custom_tableset: | |
| background_0: | |
| random_range_angle: 360 | |
| random_range_h: 20 | |
| random_range_w: 20 | |
| random_range_x: -10 | |
| random_range_y: -10 | |
| type: global_range | |
| background_1: | |
| random_range_angle: 360 | |
| random_range_h: 20 | |
| random_range_w: 20 | |
| random_range_x: -10 | |
| random_range_y: -10 | |
| type: global_range | |
| background_2: | |
| random_range_angle: 360 | |
| random_range_h: 20 | |
| random_range_w: 20 | |
| random_range_x: -10 | |
| random_range_y: -10 | |
| type: global_range | |
| background_3: | |
| random_range_angle: 360 | |
| random_range_h: 20 | |
| random_range_w: 20 | |
| random_range_x: -10 | |
| random_range_y: -10 | |
| type: global_range | |
| background_4: | |
| random_range_angle: 360 | |
| random_range_h: 20 | |
| random_range_w: 20 | |
| random_range_x: -10 | |
| random_range_y: -10 | |
| type: global_range | |
| background_5: | |
| random_range_angle: 360 | |
| random_range_h: 20 | |
| random_range_w: 20 | |
| random_range_x: -10 | |
| random_range_y: -10 | |
| type: global_range | |
| background_6: | |
| random_range_angle: 360 | |
| random_range_h: 20 | |
| random_range_w: 20 | |
| random_range_x: -10 | |
| random_range_y: -10 | |
| type: global_range | |
| background_7: | |
| random_range_angle: 360 | |
| random_range_h: 20 | |
| random_range_w: 20 | |
| random_range_x: -10 | |
| random_range_y: -10 | |
| type: global_range | |
| background_8: | |
| random_range_angle: 360 | |
| random_range_h: 20 | |
| random_range_w: 20 | |
| random_range_x: -10 | |
| random_range_y: -10 | |
| type: global_range | |
| obj1_0: | |
| random_range_angle: 360 | |
| random_range_h: 0.35 | |
| random_range_w: 0.2 | |
| random_range_x: -0.2 | |
| random_range_y: -0.35 | |
| type: global_range | |
| obj2: | |
| random_range_angle: 360 | |
| random_range_h: 0.7 | |
| random_range_w: 0.4 | |
| random_range_x: -0.2 | |
| random_range_y: -0.35 | |
| type: global_range | |
| ignored_objects: [] | |
| in_order: true | |
| type: random_custom_tableset | |
| mode: manual | |
| num_test: 1 | |
| object_config: | |
| background_0: | |
| clip_range: | |
| max: 0.2 | |
| min: 0.05 | |
| filter_rule: [] | |
| is_not_rigid: true | |
| path: object_usds/objaverse_usd/cbb36818144642b7b8183cf1ffdce407.usd | |
| type: add_additional_object_from_path | |
| background_1: | |
| clip_range: | |
| max: 0.2 | |
| min: 0.05 | |
| filter_rule: [] | |
| is_not_rigid: true | |
| path: object_usds/objaverse_usd/cc0099a687194a31a052ac761f5fdfea.usd | |
| type: add_additional_object_from_path | |
| background_2: | |
| clip_range: | |
| max: 0.2 | |
| min: 0.05 | |
| filter_rule: [] | |
| is_not_rigid: true | |
| path: object_usds/objaverse_usd/eb9eabb6ec0b4630bc28714a097c9c9f.usd | |
| type: add_additional_object_from_path | |
| background_3: | |
| clip_range: | |
| max: 0.2 | |
| min: 0.05 | |
| filter_rule: [] | |
| is_not_rigid: true | |
| path: object_usds/objaverse_usd/2a77a1c27b604f038138e16116091ae7.usd | |
| type: add_additional_object_from_path | |
| background_4: | |
| clip_range: | |
| max: 0.2 | |
| min: 0.05 | |
| filter_rule: [] | |
| is_not_rigid: true | |
| path: object_usds/objaverse_usd/7416f0f3e04c48d1af25778171256341.usd | |
| type: add_additional_object_from_path | |
| background_5: | |
| clip_range: | |
| max: 0.2 | |
| min: 0.05 | |
| filter_rule: [] | |
| is_not_rigid: true | |
| path: object_usds/objaverse_usd/49901da020e2493dab494e9bc8997f72.usd | |
| type: add_additional_object_from_path | |
| background_6: | |
| clip_range: | |
| max: 0.2 | |
| min: 0.05 | |
| filter_rule: [] | |
| is_not_rigid: true | |
| path: object_usds/objaverse_usd/d66be869bfc34004b6b72c4467de63dd.usd | |
| type: add_additional_object_from_path | |
| background_7: | |
| clip_range: | |
| max: 0.2 | |
| min: 0.05 | |
| filter_rule: [] | |
| is_not_rigid: true | |
| path: object_usds/objaverse_usd/7589e46002e141daacad5bffd0ee803d.usd | |
| type: add_additional_object_from_path | |
| background_8: | |
| clip_range: | |
| max: 0.2 | |
| min: 0.05 | |
| filter_rule: [] | |
| is_not_rigid: true | |
| path: object_usds/objaverse_usd/4b8d86761f9440cfb324d0b4d07336ff.usd | |
| type: add_additional_object_from_path | |
| obj1_0: | |
| clip_range: | |
| max: 0.15 | |
| min: 0.05 | |
| filter_rule: | |
| - can_grasp | |
| option: | |
| - adjust_thickness | |
| path: object_usds/objaverse_usd_jinyu_V3/22167c46e1054f218aa7a59b8239e650.usd | |
| type: add_additional_object_from_path | |
| obj2: | |
| clip_range: | |
| max: 0.35 | |
| min: 0.2 | |
| filter_rule: | |
| - is_container | |
| option: | |
| - force_top | |
| path: object_usds/objaverse_usd/26338a22392a445ab48369959d840917.usd | |
| type: add_additional_object_from_path | |
| preprocess_config: | |
| - config: | |
| type: ccd | |
| type: ccd | |
| - config: | |
| config: default | |
| type: convexDecomposition | |
| type: collider | |
| robots: | |
| - config: | |
| gripper_type: robotiq | |
| default_joint_positions: | |
| - 0.0 | |
| - -0.785 | |
| - 0.0 | |
| - -2.356 | |
| - 0.0 | |
| - 1.57079 | |
| - 0.0 | |
| - 0.0 | |
| - 0.0 | |
| - 0.0 | |
| - 0.0 | |
| - 0.0 | |
| - 0.0 | |
| type: franka | |
| table_uid: aa49db8a801d402dac6cf1579536502c | |
| task_name: ooc_bench300_0051 | |
| usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance | |