| dataset_path: "data/hab3_bench_assets/hab3-hssd/hab3-hssd.scene_dataset_config.json" | |
| additional_object_paths: | |
| - data/objects/ycb/configs/ | |
| scene_sets: | |
| - name: "small" | |
| included_substrings: | |
| - "103997919_171031233" | |
| excluded_substrings: | |
| - "NONE" | |
| - "orig" | |
| - name: "medium" | |
| included_substrings: | |
| - "108736635_177263256" | |
| excluded_substrings: | |
| - "NONE" | |
| - "orig" | |
| - name: "large" | |
| included_substrings: | |
| - "102816009" | |
| excluded_substrings: | |
| - "NONE" | |
| - "orig" | |
| object_sets: | |
| - name: "ycb_hab2" | |
| included_substrings: | |
| - "002_master_chef_can" | |
| - "003_cracker_box" | |
| - "004_sugar_box" | |
| - "005_tomato_soup_can" | |
| - "007_tuna_fish_can" | |
| - "008_pudding_box" | |
| - "009_gelatin_box" | |
| - "010_potted_meat_can" | |
| - "024_bowl" | |
| excluded_substrings: [] | |
| receptacle_sets: | |
| - name: "all" | |
| included_object_substrings: | |
| - "" | |
| excluded_object_substrings: [] | |
| included_receptacle_substrings: | |
| - "" | |
| excluded_receptacle_substrings: [] | |
| scene_sampler: | |
| type: subset | |
| params: | |
| scene_sets: | |
| #- small | |
| #- medium | |
| - large | |
| object_samplers: | |
| - name: any | |
| type: uniform | |
| params: | |
| object_sets: | |
| - ycb_hab2 | |
| receptacle_sets: | |
| - all | |
| #choose number of objects | |
| num_samples: | |
| #small obj | |
| #- 2 | |
| #- 2 | |
| #med obj | |
| #- 5 | |
| #- 5 | |
| #large obj | |
| - 10 | |
| - 10 | |
| orientation_sampling: up | |
| nav_to_min_distance: 1.5 | |
| constrain_to_largest_nav_island: True | |
| object_target_samplers: | |
| - name: any_targets | |
| type: uniform | |
| params: | |
| object_samplers: | |
| - any | |
| receptacle_sets: | |
| - all | |
| num_samples: | |
| - 2 | |
| - 2 | |
| orientation_sampling: up | |
| nav_to_min_distance: 1.5 | |
| constrain_to_largest_nav_island: True | |
| correct_unstable_results: True | |
| regenerate_new_mesh: True | |
| agent_radius: 0.25 | |
| agent_height: 1.41 | |
| agent_max_climb: 0.01 | |
| check_navigable: True | |
| navmesh_offset: [[0, 0], [0, 0.15], [0, -0.15]] | |
| max_collision_rate_for_navigable: 0.3 | |
| angle_threshold: 0.05 | |
| angular_velocity: 1.0 | |
| distance_threshold: 0.25 | |
| linear_velocity: 1.0 | |
| gpu_device_id: 0 | |