pick.yaml

# @package _global_

defaults:
  - /habitat: habitat_config_base

  - /habitat/simulator: rearrange_sim
  - /habitat/simulator/sensor_setups@habitat.simulator.agents.main_agent: depth_head_agent
  - /habitat/simulator/agents@habitat.simulator.agents.main_agent: fetch_suction

  - /habitat/task: task_config_base
  - /habitat/task/rearrange/actions: fetch_suction_arm_base
  - /habitat/task/measurements:
    - articulated_agent_force
    - articulated_agent_colls
    - force_terminate
    - end_effector_to_rest_distance
    - end_effector_to_object_distance
    - did_pick_object
    - pick_success
    - pick_reward
    - did_violate_hold_constraint
    - num_steps
  - /habitat/task/lab_sensors:
    - target_start_sensor
    - joint_sensor
    - is_holding_sensor
    - end_effector_sensor
    - relative_resting_pos_sensor

  - /habitat/dataset/rearrangement: replica_cad
  - _self_

habitat:
  gym:
    obs_keys:
      - head_depth
      - obj_start_sensor
      - joint
      - is_holding
      - relative_resting_position
  task:
    type: RearrangePickTask-v0
    base_angle_noise: 0.523599
    constraint_violation_ends_episode: False
    constraint_violation_drops_object: True
    reward_measure: "pick_reward"
    success_measure: "pick_success"
    success_reward: 10.0
    slack_reward: -0.005
    end_on_success: True
    measurements:
      force_terminate:
        max_accum_force: 10_000.0
        max_instant_force: 10_000.0
  environment:
    max_episode_steps: 300
  dataset:
    data_path: data/datasets/replica_cad/rearrange/v2/{split}/rearrange_easy.json.gz