task_Basket_Orange_300_5.19/backup.yaml

# dataset_name使用小写字母和下划线命名，例如 
# dataset_name: pickup_objects_on_table
dataset_name: put_the_orange_into_the_basket

# dataset_uuid为数据集的唯一标识符，由程序自动生成，无需人工填写
dataset_uuid: 

# 任务描述, 使用英文语句描述, 可使用多个描述, 每行一个描述, 例如: 
# task_desriptions: 
# - pickup apples from table and place it into basket.
# - pickup oranges from table and place it into basket.
# - pickup bananas from table and place it into basket.
# 每次新增任务时, 必须在最后新增任务描述, 以避免任务描述的编号错误
task_descriptions: 
- pick up the basket and place it in a suitable position.
- pick up the orange and put it in the basket.

# 场景类型, 例如: restaurant, kitchen, living_room，可使用多个标签，每行一个标签
scene_type:
#- medical  # 医疗
- supermarket   #超市
#- office
- home
- restaurant  #餐厅
#- industry # 工业

# 原子动作: 例如: 抓, 拿, 放, 堆叠, 移动
atomic_actions:
- grasp
# - release #释放
# - push # 推
# - pull # 拉
# - rotate # 旋转
# - lift # 抬起
# - press # 按压
# - flip  # 翻转
# - place # 放置
- pick # 拿起
# - open 
# - close
# - turn # 转动
# - pinch # 捏
# - pullapart # 拉开
# - pushtogether # 推和
# - fold # 折叠
# - unfold # 展开
# - stir # 搅拌
# - scoop # 舀
# - takeout # 取出
# - uncap # 拔
# - clip # 夹住
- lower # 放下
# - drop # 丢下
# - pressbutton # 按按钮
# - screw # 拧紧
#- wipe

# 物品: 分层级描述物品类别，例如:
objects:
- table:
  level1: furniture
  level2: table
  level3: null
  level4: null
  level5: null
- orange: 
  level1: food 
  level2: orange
  level3: null
  level4: null
  level5: null
- basket: 
  level1: container
  level2: basket
  level3: null
  level4: null
  level5: null

# 操作平面高度, 单位为cm, 例如: 77.2cm
operation_platform_heigth: 77.2


# device_model为数据集的设备类型，例如：agilex_pika_sense, agilex_cobot_magic_aloha, realman, 建议使用设备官方型号
device_model: 
# - agilex_pika_sense # pika
# - agilex_pika_sense_single # 单臂pika
# - agilex_cobot_magic_aloha # 松灵合体
# - agilex_cobot_decoupled_magic # 松灵分体
- realman_rmc_aidal # 睿尔曼
# - galaxea_r1_lite # 星海图
# - adora_dual_v1 # adora
# - unitree_g1 # 宇树
# - human
# - discover_robotics_aitbot_mmk2 # 求之mmk

# 末端设备类型, 例如: two_finger_gripper, three_finger_hand, five_finger_hand
end_effector_type: two_finger_gripper