extends:
- ../stack_blocks_two.yaml
- ../robotwin_wide_generation.yaml
dataset:
  robotwin_subset: randomized_500
  action_stats_path: data/action_stats/stack_blocks_two_randomized500_joint_absolute.json
  prompt_template: |-
    A bright-red cube is left of center and a bright-green cube is right of center. Other household objects are on the table and motionless.
    A white and black 6 axis robot arm with a black 2 finger prismatic gripper is on the left side of the frame. A second white and black 6 axis robot arm with a black 2 finger prismatic gripper is on the right side of the frame.
    The two robot arms are motionless.
    {subtask}
    Static camera. Soft indoor lighting. raytaced simulation rendering, robotic motion, realistic physics. Object sizes stay the same.
  subtask_labels:
  - Move the red cube with the left arm until it is released at the table center
  - Move the red cube with the right arm until it is released at the table center
  - Move the green cube with the left arm until it is released on the red cube
  - Move the green cube with the right arm until it is released on the red cube
  prompt_subtask_labels:
  - The left robot arm moves slowly toward the red cube and closes its gripper to grasp it. The left robot arm lifts the red
    cube, carries it to the middle of the table, and sets it down.
  - The right robot arm moves slowly toward the red cube and closes its gripper to grasp it. The right robot arm lifts the
    red cube, carries it to the middle of the table, and sets it down.
  - The left robot arm moves toward the green cube and closes its gripper to grasp it. The left robot arm lifts the green
    cube and stacks it on the red cube.
  - The right robot arm moves toward the green cube and closes its gripper to grasp it. The right robot arm lifts the green
    cube and stacks it on the red cube.
  prompt_subtask_blocked_video_sides:
  - right
  - left
  - right
  - left
train:
  output_dir: runs/benchmarks/robotwin/stack_blocks_two_randomized500
  wandb_group: robotwin_stack_blocks_two_randomized500
  robotwin_eval_ckpt_setting: randomized_500
  wandb_run_name: robotwin_stack_blocks_two_randomized500
cache:
  latent_cache_dir: data/cache/robotwin_stack_blocks_two_randomized500_t24_frames21_target432_crop100x90_bottom
  prompt_embed_cache_dir: data/prompt_embeds/robotwin_stack_blocks_two_randomized500