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demonstration_configs: []
evaluation_configs:
- domain_randomization:
cameras:
config_path: saved/assets/collected_packages/GenManip-Package-Basic/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:
- - allow_fixed_grasp: true
fixed_position: true
force_fixed_grasp: true
obj1_uid:
- '0'
obj2_uid:
- '1'
position:
- top
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: Minimal_Banana
usd_name: collected_packages/GenManip-Package-Basic/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance
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