habitat: seed: 0 env_task: GymHabitatEnv env_task_gym_dependencies: [] env_task_gym_id: '' environment: max_episode_steps: 400 max_episode_seconds: 10000000 iterator_options: cycle: true shuffle: false group_by_scene: true num_episode_sample: -1 max_scene_repeat_episodes: -1 max_scene_repeat_steps: 10000 step_repetition_range: 0.2 simulator: type: RearrangeSim-v0 forward_step_size: 0.25 turn_angle: 10 create_renderer: false requires_textures: true auto_sleep: true step_physics: true concur_render: true needs_markers: true update_articulated_agent: true scene: data/scene_datasets/habitat-test-scenes/van-gogh-room.glb scene_dataset: default additional_object_paths: - data/objects/ycb/configs/ seed: 0 default_agent_id: 0 debug_render: false debug_render_articulated_agent: false kinematic_mode: false should_setup_semantic_ids: true debug_render_goal: false robot_joint_start_noise: 0.0 ctrl_freq: 120.0 ac_freq_ratio: 4 load_objs: true hold_thresh: 0.15 grasp_impulse: 10000.0 agents: main_agent: height: 1.5 radius: 0.3 max_climb: 0.2 max_slope: 45.0 grasp_managers: 1 sim_sensors: head_depth_sensor: type: HabitatSimDepthSensor height: 256 width: 256 position: - 0.0 - 1.25 - 0.0 orientation: - 0.0 - 0.0 - 0.0 hfov: 90 sensor_subtype: PINHOLE noise_model: None noise_model_kwargs: {} min_depth: 0.0 max_depth: 10.0 normalize_depth: true uuid: head_depth head_rgb_sensor: type: HabitatSimRGBSensor height: 256 width: 256 position: - 0.0 - 1.25 - 0.0 orientation: - 0.0 - 0.0 - 0.0 hfov: 90 sensor_subtype: PINHOLE noise_model: None noise_model_kwargs: {} uuid: head_rgb is_set_start_state: false start_position: - 0.0 - 0.0 - 0.0 start_rotation: - 0.0 - 0.0 - 0.0 - 1.0 joint_start_noise: 0.1 joint_that_can_control: null joint_start_override: null articulated_agent_urdf: data/robots/hab_fetch/robots/hab_suction.urdf articulated_agent_type: FetchSuctionRobot ik_arm_urdf: data/robots/hab_fetch/robots/fetch_onlyarm.urdf motion_data_path: '' auto_update_sensor_transform: true agents_order: - main_agent default_agent_navmesh: true navmesh_include_static_objects: false habitat_sim_v0: gpu_device_id: -1 gpu_gpu: false allow_sliding: false frustum_culling: true enable_physics: true enable_hbao: false physics_config_file: ./data/default.physics_config.json leave_context_with_background_renderer: false enable_gfx_replay_save: true ep_info: null object_ids_start: 100 renderer: enable_batch_renderer: false composite_files: null classic_replay_renderer: false task: physics_target_sps: 60.0 reward_measure: nav_to_obj_reward success_measure: nav_to_obj_success success_reward: 10.0 slack_reward: -0.005 end_on_success: true type: NavToObjTask-v0 lab_sensors: nav_goal_sensor: type: NavGoalPointGoalSensor goal_is_human: false human_agent_idx: 1 joint_sensor: type: JointSensor dimensionality: 7 arm_joint_mask: null measurements: object_to_goal_distance: type: ObjectToGoalDistance articulated_agent_force: type: RobotForce min_force: 20.0 force_terminate: type: ForceTerminate max_accum_force: 10000.0 max_instant_force: 10000.0 articulated_agent_colls: type: RobotCollisions rot_dist_to_goal: type: RotDistToGoal dist_to_goal: type: DistToGoal nav_to_pos_succ: type: NavToPosSucc success_distance: 1.5 does_want_terminate: type: DoesWantTerminate rearrange_nav_to_obj_success: type: NavToObjSuccess must_look_at_targ: true must_call_stop: true success_angle_dist: 0.261799 bad_called_terminate: type: BadCalledTerminate bad_term_pen: 0.0 decay_bad_term: false rearrange_nav_to_obj_reward: type: NavToObjReward should_reward_turn: true turn_reward_dist: 3.0 angle_dist_reward: 1.0 dist_reward: 1.0 constraint_violate_pen: 1.0 force_pen: 0.0001 max_force_pen: 0.01 force_end_pen: 1.0 count_coll_pen: -1.0 max_count_colls: -1 count_coll_end_pen: 1.0 num_steps: type: NumStepsMeasure rank0_env0_measure_names: - habitat_perf rank0_measure_names: [] goal_sensor_uuid: pointgoal count_obj_collisions: true settle_steps: 5 constraint_violation_ends_episode: false constraint_violation_drops_object: true force_regenerate: false should_save_to_cache: false object_in_hand_sample_prob: 0.167 min_start_distance: 3.0 render_target: true filter_colliding_states: true num_spawn_attempts: 200 spawn_max_dist_to_obj: 2.0 base_angle_noise: 0.523599 spawn_max_dist_to_obj_delta: 0.02 recep_place_shrink_factor: 0.8 ee_sample_factor: 0.2 ee_exclude_region: 0.0 base_noise: 0.05 spawn_region_scale: 0.2 joint_max_impulse: -1.0 desired_resting_position: - 0.5 - 0.0 - 1.0 use_marker_t: true cache_robot_init: false success_state: 0.0 should_enforce_target_within_reach: false task_spec_base_path: habitat/task/rearrange/pddl/ task_spec: '' pddl_domain_def: replica_cad obj_succ_thresh: 0.3 enable_safe_drop: false art_succ_thresh: 0.15 robot_at_thresh: 2.0 min_distance_start_agents: -1.0 actions: base_velocity: type: BaseVelAction lin_speed: 10.0 ang_speed: 10.0 allow_dyn_slide: true allow_back: true rearrange_stop: type: RearrangeStopAction oracle_nav_coord: type: OracleNavCoordinateAction motion_control: base_velocity num_joints: 17 turn_velocity: 1.0 forward_velocity: 1.0 turn_thresh: 0.1 dist_thresh: 0.2 lin_speed: 10.0 ang_speed: 10.0 allow_dyn_slide: true allow_back: true spawn_max_dist_to_obj: 2.0 num_spawn_attempts: 200 human_stop_and_walk_to_robot_distance_threshold: -1.0 dataset: type: RearrangeDataset-v0 split: minival scenes_dir: data/replica_cad/ content_scenes: - '*' data_path: data/datasets/replica_cad/rearrange/v2/{split}/rearrange_easy.json.gz metadata: null gym: obs_keys: - head_depth - goal_to_agent_gps_compass - joint action_keys: null achieved_goal_keys: [] desired_goal_keys: []