| scene: | |
| cameras: # Configure camera position and pose | |
| - name: "opst_cam" | |
| position: [1, 0, 0.6] | |
| rotation: [0, 60, 90] | |
| prim_path: "/Robot/OppositeCamera" | |
| - name: "side_cam" | |
| position: [0.5, 1, 0.35] | |
| rotation: [-90, 0, 180] | |
| prim_path: "/Robot/SideCamera" | |
| objects: # Configure object | |
| n_objects: 1 # number of objects in simulation | |
| mass: 0.05 # mass of object | |
| prob_rnd_quat: 0.85 # probability of object having random orientation. Otherwise it will have default orientation. | |
| prob_static: 0.5 # probability of object being static. Otherwise it will be moving. | |
| moving_speed: [0.15, 0.75] # range of speed for moving objects, generated uniformly random | |
| # moving_speed: [0.05, 0.25] | |
| friction: [0.5, 1.5] # range of friction for objects, generated uniformly random | |
| perturbation: # configure perturbation for objects. Delete this if you don't intend to introduce perturbation for objects. | |
| # force: [0.001, 0.005] | |
| # torque: [0.0005, 0.0025] | |
| tag_thresholds: # configure thresholds for tag generation. If the value difference between two objects is less than the threshold, the value is considered same, thus also the rank. | |
| height: 0.1 | |
| area: 0.1 | |
| volume: 0.1 | |
| position_from_left: 0.1 | |
| position_from_bottom: 0.1 | |
| distance_from_robot: 0.3 | |
| velocity: 0.2 | |
| categories: # configure available categories of objects. All objects are randomly selected from available items whose category is in this list. Must exist in the objects directory. | |
| - apple | |
| - avocado | |
| - beer | |
| - bottle | |
| - can | |
| - cup | |
| - egg | |
| - kiwi | |
| - lemon | |
| - lime | |
| - onion | |
| - orange | |
| - peach | |
| - potato | |
| - tangerine | |
| - tomato | |
| # - unseen | |
| containers: # Configure containers | |
| n_containers: 1 # number of containers | |
| mass: 0.1 # mass of container | |
| categories: # configure available categories of containers. Must exist in the objects directory. | |
| - bowl | |
| - box | |
| - plate | |
| - placemat | |
| - tray | |
| camera: | |
| width: 480 | |
| height: 360 | |
| fps: 25 | |
| focal_length: 2.3 | |
| focus_distance: 400 | |
| horizontal_aperture: 4.6 | |
| clip: | |
| near: 0.01 | |
| far: 10000 | |
| data_types: | |
| - rgb | |
| - semantic_segmentation | |
| # - depth | |
| lighting: # lighting configuration, config for each scene is selected randomly in the respective range. | |
| temperature: [4000, 8000] | |
| intensity: [150, 750] | |
| position: | |
| x: [-50, 50] | |
| y: [-50, 50] | |
| z: [10, 20] | |
| tasks: # configure task behaviour | |
| pick: | |
| sm: "state_machines.pick_sm.PickStateMachine" # selects the state machine to run when generating scenes executing the respective task | |
| episode_length: 10 # max episode length, terminating with failure if exceeded | |
| place: | |
| sm: "state_machines.place_sm.PlaceStateMachine" | |
| episode_length: 12 | |
| long-horizon: | |
| sm: "state_machines.place_sm.PlaceStateMachine" | |
| episode_length: 20 | |
| robots: # configure robots in simulation | |
| franka: | |
| init_pose: [0.465906, 0.0, 0.382970, 0.008583, 0.921765, 0.020404, 0.387116] | |
| final_pose: [0.3, 0, 0.3, -1, 0, 0, 0] | |
| gripper_length: 0.045 | |
| max_reach_dist: 0.75 | |
| piper: | |
| init_pose: [0.373, 0.0, 0.271, 0.0, 0.9739, 0.0, 0.227] | |
| final_pose: [0.373, 0.0, 0.271, -1, 0, 0, 0] | |
| gripper_length: 0.09 | |
| max_reach_dist: 0.55 | |