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