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zyhe
2026-03-16 11:44:10 +00:00
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73
workflows/simbox/core/configs/arenas/azure_loong_arena.yaml Normal file
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name: azure_loong_arena
fixtures:
-
name: table
path: table0/instance.usd
target_class: GeometryObject
translation: [0.0, 0.0, 0.705]
# euler: [0.0, 0.0, 0.0]
# quaternion: [1.0, 0.0, 0.0, 0.0]
scale: [0.0015, 0.0015, 0.001]
texture:
texture_lib: "val2017"
apply_randomization: False
texture_id: 0
texture_scale: [0.001, 0.001]
-
name: floor
target_class: PlaneObject
size: [5.0, 5.0]
translation: [0, 0, 0]
texture:
texture_lib: "floor_textures"
apply_randomization: False
texture_id: 1
texture_scale: [1.0, 1.0]
# -
# name: background0
# target_class: PlaneObject
# size: [3.0, 5.0]
# translation: [-2, 0, 1]
# euler: [0.0, 90.0, 0.0]
# texture:
# texture_lib: "background_textures"
# apply_randomization: False
# texture_id: 1
# texture_scale: [1.0, 1.0]
# -
# name: background1
# target_class: PlaneObject
# size: [3.0, 5.0]
# translation: [2, 0, 1]
# euler: [0.0, 90.0, 0.0]
# texture:
# texture_lib: "background_textures"
# apply_randomization: False
# texture_id: 1
# texture_scale: [1.0, 1.0]
# -
# name: background2
# target_class: PlaneObject
# size: [5.0, 3.0]
# translation: [0, -2, 1]
# euler: [90.0, 0.0, 0.0]
# texture:
# texture_lib: "background_textures"
# apply_randomization: False
# texture_id: 1
# texture_scale: [1.0, 1.0]
# -
# name: background3
# target_class: PlaneObject
# size: [5.0, 3.0]
# translation: [0, 2, 1]
# euler: [90.0, 0.0, 0.0]
# texture:
# texture_lib: "background_textures"
# apply_randomization: False
# texture_id: 1
# texture_scale: [1.0, 1.0]
# affordance region should be defined here

73
workflows/simbox/core/configs/arenas/base_arena.yaml Normal file
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name: base_arena
fixtures:
-
name: table
path: table0/instance.usd
target_class: GeometryObject
translation: [0.0, 0.0, 0.35570302]
# euler: [0.0, 0.0, 0.0]
# quaternion: [1.0, 0.0, 0.0, 0.0]
scale: [0.0015, 0.0015, 0.001]
texture:
texture_lib: "table_textures"
apply_randomization: True
texture_id: 0
texture_scale: [0.001, 0.001]
-
name: floor
target_class: PlaneObject
size: [5.0, 5.0]
translation: [0, 0, 0]
texture:
texture_lib: "floor_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background0
target_class: PlaneObject
size: [3.0, 5.0]
translation: [-2, 0, 1]
euler: [0.0, 90.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background1
target_class: PlaneObject
size: [3.0, 5.0]
translation: [2, 0, 1]
euler: [0.0, 90.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background2
target_class: PlaneObject
size: [5.0, 3.0]
translation: [0, -2, 1]
euler: [90.0, 0.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background3
target_class: PlaneObject
size: [5.0, 3.0]
translation: [0, 2, 1]
euler: [90.0, 0.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
# affordance region should be defined here

74
workflows/simbox/core/configs/arenas/clean_dark_arena.yaml Normal file
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name: clean_dark_arena
fixtures:
-
name: table
path: table0/instance.usd
target_class: GeometryObject
translation: [0.0, 0.0, 0.375]
# euler: [0.0, 0.0, 0.0]
# quaternion: [1.0, 0.0, 0.0, 0.0]
scale: [0.001, 0.001053, 0.001056]
# scale: [0.0007, 0.001053, 0.001056]
texture:
texture_lib: "dark_table_textures" # "val2017/image"
apply_randomization: True
texture_id: 0
texture_scale: [0.001, 0.001]
-
name: floor
target_class: PlaneObject
size: [5.0, 5.0]
translation: [0, 0, 0]
texture:
texture_lib: "floor_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background0
target_class: PlaneObject
size: [3.0, 5.0]
translation: [-2, 0, 1]
euler: [0.0, 90.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background1
target_class: PlaneObject
size: [3.0, 5.0]
translation: [2, 0, 1]
euler: [0.0, 90.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background2
target_class: PlaneObject
size: [5.0, 3.0]
translation: [0, -2, 1]
euler: [90.0, 0.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background3
target_class: PlaneObject
size: [5.0, 3.0]
translation: [0, 2, 1]
euler: [90.0, 0.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
# affordance region should be defined here

74
workflows/simbox/core/configs/arenas/clean_light_arena.yaml Normal file
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name: clean_light_arena
fixtures:
-
name: table
path: table0/instance.usd
target_class: GeometryObject
translation: [0.0, 0.0, 0.375]
# euler: [0.0, 0.0, 0.0]
# quaternion: [1.0, 0.0, 0.0, 0.0]
scale: [0.001, 0.001053, 0.001056]
# scale: [0.0007, 0.001053, 0.001056]
texture:
texture_lib: "light_table_textures" # "val2017/image"
apply_randomization: True
texture_id: 0
texture_scale: [0.001, 0.001]
-
name: floor
target_class: PlaneObject
size: [5.0, 5.0]
translation: [0, 0, 0]
texture:
texture_lib: "floor_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background0
target_class: PlaneObject
size: [3.0, 5.0]
translation: [-2, 0, 1]
euler: [0.0, 90.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background1
target_class: PlaneObject
size: [3.0, 5.0]
translation: [2, 0, 1]
euler: [0.0, 90.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background2
target_class: PlaneObject
size: [5.0, 3.0]
translation: [0, -2, 1]
euler: [90.0, 0.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background3
target_class: PlaneObject
size: [5.0, 3.0]
translation: [0, 2, 1]
euler: [90.0, 0.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
# affordance region should be defined here

72
workflows/simbox/core/configs/arenas/collaborate_arena.yaml Normal file
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name: collaborate_arena
fixtures:
-
name: table
path: table0/instance.usd
target_class: GeometryObject
translation: [0.0, 0.0, 0.375]
# euler: [0.0, 0.0, 0.0]
# quaternion: [1.0, 0.0, 0.0, 0.0]
# scale: [0.000525, 0.001053, 0.001056]
scale: [0.001, 0.001002, 0.001056]
texture:
texture_lib: "table_textures"
apply_randomization: True
texture_id: 0
texture_scale: [0.001, 0.001]
-
name: floor
target_class: PlaneObject
size: [5.0, 5.0]
translation: [0, 0, 0]
texture:
texture_lib: "floor_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background0
target_class: PlaneObject
size: [3.0, 5.0]
translation: [-2, 0, 1]
euler: [0.0, 90.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background1
target_class: PlaneObject
size: [3.0, 5.0]
translation: [2, 0, 1]
euler: [0.0, 90.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background2
target_class: PlaneObject
size: [5.0, 3.0]
translation: [0, -2, 1]
euler: [90.0, 0.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background3
target_class: PlaneObject
size: [5.0, 3.0]
translation: [0, 2, 1]
euler: [90.0, 0.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
# affordance region should be defined here

71
workflows/simbox/core/configs/arenas/conveyor_arena.yaml Normal file
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name: conveyor_arena
fixtures:
-
name: conveyor
path: long_horizon/conveyor/World.usd
target_class: ConveyorObject
translation: [-1.63, 0.0, 0.7]
quaternion: [1.0, 0.0, 0.0, 0.0]
scale: [1, 1, 1]
linear_velocity: [0.05, 0, 0.0]
linear_track_list: ["track_03", "track_07"]
angular_velocity: [0.0, 0.0, 20]
angular_track_list: ["track_01", "track_02", "track_05", "track_06"]
-
name: floor
target_class: PlaneObject
size: [5.0, 5.0]
translation: [0, 0, 0]
texture:
texture_lib: "floor_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background0
target_class: PlaneObject
size: [3.0, 5.0]
translation: [-2, 0, 1]
euler: [0.0, 90.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background1
target_class: PlaneObject
size: [3.0, 5.0]
translation: [2, 0, 1]
euler: [0.0, 90.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background2
target_class: PlaneObject
size: [5.0, 3.0]
translation: [0, -2, 1]
euler: [90.0, 0.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background3
target_class: PlaneObject
size: [5.0, 3.0]
translation: [0, 2, 1]
euler: [90.0, 0.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
# affordance region should be defined here

37
workflows/simbox/core/configs/arenas/example.yaml Normal file
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name: example
fixtures:
-
name: table
path: table0/instance.usd
target_class: GeometryObject
translation: [0.0, 0.0, 0.375]
scale: [0.000525, 0.001053, 0.001056]
# -
# name: floor
# target_class: PlaneObject
# size: [5.0, 5.0]
# translation: [0, 0, 0]
# -
# name: background0
# target_class: PlaneObject
# size: [3.0, 5.0]
# translation: [-2, 0, 1]
# euler: [0.0, 90.0, 0.0]
# -
# name: background1
# target_class: PlaneObject
# size: [3.0, 5.0]
# translation: [2, 0, 1]
# euler: [0.0, 90.0, 0.0]
# -
# name: background2
# target_class: PlaneObject
# size: [5.0, 3.0]
# translation: [0, -2, 1]
# euler: [90.0, 0.0, 0.0]
# -
# name: background3
# target_class: PlaneObject
# size: [5.0, 3.0]
# translation: [0, 2, 1]
# euler: [90.0, 0.0, 0.0]

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workflows/simbox/core/configs/arenas/floor_arena.yaml Normal file
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name: floor_arena
fixtures:
# -
# name: table
# path: table0/instance.usd
# target_class: GeometryObject
# translation: [0.0, 0.0, 0.375]
# # euler: [0.0, 0.0, 0.0]
# # quaternion: [1.0, 0.0, 0.0, 0.0]
# scale: [0.001, 0.001053, 0.001056]
# # scale: [0.0007, 0.001053, 0.001056]
# texture:
# texture_lib: "table_textures"
# apply_randomization: True
# texture_id: 0
# texture_scale: [0.001, 0.001]
-
name: floor
target_class: PlaneObject
size: [5.0, 5.0]
translation: [0, 0, 0]
texture:
texture_lib: "floor_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background0
target_class: PlaneObject
size: [3.0, 5.0]
translation: [-2, 0, 1]
euler: [0.0, 90.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background1
target_class: PlaneObject
size: [3.0, 5.0]
translation: [2, 0, 1]
euler: [0.0, 90.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background2
target_class: PlaneObject
size: [5.0, 3.0]
translation: [0, -2, 1]
euler: [90.0, 0.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background3
target_class: PlaneObject
size: [5.0, 3.0]
translation: [0, 2, 1]
euler: [90.0, 0.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
# affordance region should be defined here

72
workflows/simbox/core/configs/arenas/genie_pick_arena.yaml Normal file
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name: genie_pick_randomized_arena
fixtures:
-
name: table
path: table0/instance.usd
target_class: GeometryObject
translation: [0.0, 0.0, 0.375]
# euler: [0.0, 0.0, 0.0]
# quaternion: [1.0, 0.0, 0.0, 0.0]
# scale: [0.001, 0.001053, 0.001056]
scale: [0.001, 0.0010029, 0.001056]
texture:
texture_lib: "table_textures"
apply_randomization: True
texture_id: 0
texture_scale: [0.001, 0.001]
-
name: floor
target_class: PlaneObject
size: [5.0, 5.0]
translation: [0, 0, 0]
texture:
texture_lib: "floor_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background0
target_class: PlaneObject
size: [3.0, 5.0]
translation: [-2, 0, 1]
euler: [0.0, 90.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background1
target_class: PlaneObject
size: [3.0, 5.0]
translation: [2, 0, 1]
euler: [0.0, 90.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background2
target_class: PlaneObject
size: [5.0, 3.0]
translation: [0, -2, 1]
euler: [90.0, 0.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background3
target_class: PlaneObject
size: [5.0, 3.0]
translation: [0, 2, 1]
euler: [90.0, 0.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
# affordance region should be defined here

72
workflows/simbox/core/configs/arenas/mid_table_arena.yaml Normal file
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name: mid_table_arena
fixtures:
-
name: table
path: table0/instance.usd
target_class: GeometryObject
translation: [0.0, 0.0, 0.375]
# euler: [0.0, 0.0, 0.0]
# quaternion: [1.0, 0.0, 0.0, 0.0]
scale: [0.000525, 0.001053, 0.001056]
# scale: [0.0007, 0.001053, 0.001056]
texture:
texture_lib: "table_textures"
apply_randomization: True
texture_id: 0
texture_scale: [0.001, 0.001]
-
name: floor
target_class: PlaneObject
size: [5.0, 5.0]
translation: [0, 0, 0]
texture:
texture_lib: "floor_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background0
target_class: PlaneObject
size: [3.0, 5.0]
translation: [-2, 0, 1]
euler: [0.0, 90.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background1
target_class: PlaneObject
size: [3.0, 5.0]
translation: [2, 0, 1]
euler: [0.0, 90.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background2
target_class: PlaneObject
size: [5.0, 3.0]
translation: [0, -2, 1]
euler: [90.0, 0.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background3
target_class: PlaneObject
size: [5.0, 3.0]
translation: [0, 2, 1]
euler: [90.0, 0.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
# affordance region should be defined here

75
workflows/simbox/core/configs/arenas/pick_clean_arena.yaml Normal file
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name: pick_clean_arena
fixtures:
-
name: table
path: table0/instance.usd
target_class: GeometryObject
translation: [0.0, 0.0, 0.375]
# euler: [0.0, 0.0, 0.0]
# quaternion: [1.0, 0.0, 0.0, 0.0]
scale: [0.001, 0.001053, 0.001056]
# scale: [0.0007, 0.001053, 0.001056]
# texture:
# texture_lib: "table_textures"
# apply_randomization: True
# texture_id: 0
# texture_scale: [0.001, 0.001]
# dataset: oo3d
# category: "plane"
# prim_path_child: Instance
-
name: floor
target_class: PlaneObject
size: [5.0, 5.0]
translation: [0, 0, 0]
texture:
texture_lib: "floor_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background0
target_class: PlaneObject
size: [3.0, 5.0]
translation: [-2, 0, 1]
euler: [0.0, 90.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background1
target_class: PlaneObject
size: [3.0, 5.0]
translation: [2, 0, 1]
euler: [0.0, 90.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background2
target_class: PlaneObject
size: [5.0, 3.0]
translation: [0, -2, 1]
euler: [90.0, 0.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background3
target_class: PlaneObject
size: [5.0, 3.0]
translation: [0, 2, 1]
euler: [90.0, 0.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
# affordance region should be defined here

72
workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml Normal file
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name: pick_randomized_arena
fixtures:
-
name: table
path: table0/instance.usd
target_class: GeometryObject
translation: [0.0, 0.0, 0.375]
# euler: [0.0, 0.0, 0.0]
# quaternion: [1.0, 0.0, 0.0, 0.0]
scale: [0.001, 0.001053, 0.001056]
# scale: [0.0007, 0.001053, 0.001056]
texture:
texture_lib: "table_textures"
apply_randomization: True
texture_id: 0
texture_scale: [0.001, 0.001]
-
name: floor
target_class: PlaneObject
size: [5.0, 5.0]
translation: [0, 0, 0]
texture:
texture_lib: "floor_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background0
target_class: PlaneObject
size: [3.0, 5.0]
translation: [-2, 0, 1]
euler: [0.0, 90.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background1
target_class: PlaneObject
size: [3.0, 5.0]
translation: [2, 0, 1]
euler: [0.0, 90.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background2
target_class: PlaneObject
size: [5.0, 3.0]
translation: [0, -2, 1]
euler: [90.0, 0.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background3
target_class: PlaneObject
size: [5.0, 3.0]
translation: [0, 2, 1]
euler: [90.0, 0.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
# affordance region should be defined here

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workflows/simbox/core/configs/arenas/scene_arena.yaml Normal file
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name: scene_arena
involved_scenes: dining_room_scene_info
update_freq: 5000
fixtures:
# 001
-
name: table
path: home_scenes/tables/dinning_room/model_8617414f380062817ad173f2ad2abc28_0.usd
target_class: GeometryObject
translation: [0, 0, 0]
scale: [0.01, 0.01, 0.01]
euler: [0.0, 0.0, 0.0]
apply_randomization: True
-
name: scene
path: home_scenes/rooms/dinning_room/MVUHLWYKTKJ5EAABAAAAAAY8_usd_dinning_room_0.usd
target_class: GeometryObject
scale: [0.01, 0.01, 0.01]
translation: [2.449, 1.016, -0.455]
euler: [0.0, 0.0, 0.0]
apply_randomization: True

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workflows/simbox/core/configs/arenas/sweep_arena.yaml Normal file
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name: sweep_arena
fixtures:
-
name: table
path: table0/instance.usd
target_class: GeometryObject
translation: [0.0, 0.0, 0.375]
# euler: [0.0, 0.0, 0.0]
# quaternion: [1.0, 0.0, 0.0, 0.0]
scale: [0.0005, 0.001053, 0.001056]
# scale: [0.001, 0.001053, 0.001056]
texture:
texture_lib: "table_textures"
apply_randomization: True
texture_id: 0
texture_scale: [0.001, 0.001]
-
name: floor
target_class: PlaneObject
size: [5.0, 5.0]
translation: [0, 0, 0]
texture:
texture_lib: "floor_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background0
target_class: PlaneObject
size: [3.0, 5.0]
translation: [-2, 0, 1]
euler: [0.0, 90.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background1
target_class: PlaneObject
size: [3.0, 5.0]
translation: [2, 0, 1]
euler: [0.0, 90.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background2
target_class: PlaneObject
size: [5.0, 3.0]
translation: [0, -2, 1]
euler: [90.0, 0.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background3
target_class: PlaneObject
size: [5.0, 3.0]
translation: [0, 2, 1]
euler: [90.0, 0.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
# affordance region should be defined here

75
workflows/simbox/core/configs/arenas/table_clean_arena.yaml Normal file
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name: pick_clean_arena
fixtures:
-
name: table
path: table0/instance.usd
target_class: GeometryObject
translation: [0.0, 0.0, 0.375]
# euler: [0.0, 0.0, 0.0]
# quaternion: [1.0, 0.0, 0.0, 0.0]
scale: [0.001, 0.001053, 0.001056]
# scale: [0.0007, 0.001053, 0.001056]
# texture:
# texture_lib: "table_textures"
# apply_randomization: True
# texture_id: 0
# texture_scale: [0.001, 0.001]
# dataset: oo3d
# category: "plane"
# prim_path_child: Instance
# -
# name: floor
# target_class: PlaneObject
# size: [5.0, 5.0]
# translation: [0, 0, 0]
# texture:
# texture_lib: "floor_textures"
# apply_randomization: True
# texture_id: 1
# texture_scale: [1.0, 1.0]
# -
# name: background0
# target_class: PlaneObject
# size: [3.0, 5.0]
# translation: [-2, 0, 1]
# euler: [0.0, 90.0, 0.0]
# texture:
# texture_lib: "background_textures"
# apply_randomization: True
# texture_id: 1
# texture_scale: [1.0, 1.0]
# -
# name: background1
# target_class: PlaneObject
# size: [3.0, 5.0]
# translation: [2, 0, 1]
# euler: [0.0, 90.0, 0.0]
# texture:
# texture_lib: "background_textures"
# apply_randomization: True
# texture_id: 1
# texture_scale: [1.0, 1.0]
# -
# name: background2
# target_class: PlaneObject
# size: [5.0, 3.0]
# translation: [0, -2, 1]
# euler: [90.0, 0.0, 0.0]
# texture:
# texture_lib: "background_textures"
# apply_randomization: True
# texture_id: 1
# texture_scale: [1.0, 1.0]
# -
# name: background3
# target_class: PlaneObject
# size: [5.0, 3.0]
# translation: [0, 2, 1]
# euler: [90.0, 0.0, 0.0]
# texture:
# texture_lib: "background_textures"
# apply_randomization: True
# texture_id: 1
# texture_scale: [1.0, 1.0]
# affordance region should be defined here

22
workflows/simbox/core/configs/arenas/waic_hearth_arena.yaml Normal file
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name: waic_hearth_arena
update_freq: 10
fixtures:
-
name: floor
target_class: PlaneObject
size: [5.0, 5.0]
translation: [0, 0, 0]
visible: False
texture:
texture_lib: "floor_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: scene
path: home_scenes/rooms/kitchen/MVUHLWYKTKJ5EAABAAAAADA8_usd_kitchen_0.usd
target_class: GeometryObject
scale: [0.015, 0.015, 0.015]
translation: [-5.89, -3.58, -0.3]
euler: [0.0, 0.0, 180.0]
apply_randomization: True

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workflows/simbox/core/configs/arenas/warehouse_conveyor_arena.yaml Normal file
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name: warehouse_conveyor_arena
fixtures:
-
name: conveyor
path: long_horizon/conveyor/warehouse_conveyor.usdc
target_class: ConveyorObject
translation: [0, 0, 0.0]
quaternion: [1.0, 0.0, 0.0, 0.0]
scale: [1, 1, 1]
linear_velocity: [-0.05, 0, 0.0]
linear_track_list: ["track_01", "track_03"]
angular_velocity: [0.0, 0.0, -10]
angular_track_list: ["track_02", "track_04"]
-
name: floor
target_class: PlaneObject
size: [50.0, 50.0]
translation: [0, 0, 0]
texture:
texture_lib: "floor_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background0
target_class: PlaneObject
size: [3.0, 10.0]
translation: [-5, 0, 1]
euler: [0.0, 90.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background1
target_class: PlaneObject
size: [3.0, 10.0]
translation: [5, 0, 1]
euler: [0.0, 90.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background2
target_class: PlaneObject
size: [10.0, 3.0]
translation: [0, -5, 1]
euler: [90.0, 0.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]
-
name: background3
target_class: PlaneObject
size: [10.0, 3.0]
translation: [0, 3, 1]
euler: [90.0, 0.0, 0.0]
texture:
texture_lib: "background_textures"
apply_randomization: True
texture_id: 1
texture_scale: [1.0, 1.0]