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| 1 | +# Copyright (c) 2026, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md). |
| 2 | +# All rights reserved. |
| 3 | +# |
| 4 | +# SPDX-License-Identifier: Apache-2.0 |
| 5 | + |
| 6 | +env_name: kitchen_bench_lightwheel_place_banana_on_plate_one_wall_coastal |
| 7 | +embodiment: |
| 8 | + id: droid |
| 9 | + registry_name: droid_abs_joint_pos |
| 10 | + params: |
| 11 | + stand_height_m: 0.8 |
| 12 | + placement_bbox_stand_only: true |
| 13 | + collision_mode: mesh |
| 14 | +background: |
| 15 | + id: kitchen |
| 16 | + registry_name: lightwheel_kitchen_one_wall_coastal |
| 17 | + params: |
| 18 | + collision_mode: mesh |
| 19 | + repair_collision_mesh_non_watertight: false |
| 20 | +objects: |
| 21 | +- id: banana |
| 22 | + registry_name: banana_ycb_robolab |
| 23 | + params: {} |
| 24 | +- id: plate |
| 25 | + registry_name: plate_large_vomp_robolab |
| 26 | + params: {} |
| 27 | +- id: apple |
| 28 | + registry_name: apple_01_objaverse_robolab |
| 29 | + params: {} |
| 30 | +- id: avocado |
| 31 | + registry_name: avocado01_fruits_veggies_robolab |
| 32 | + params: {} |
| 33 | +- id: broccoli |
| 34 | + registry_name: broccoli |
| 35 | + params: {} |
| 36 | +- id: lemon |
| 37 | + registry_name: lemon_01_fruits_veggies_robolab |
| 38 | + params: {} |
| 39 | +- id: lime |
| 40 | + registry_name: lime01_fruits_veggies_robolab |
| 41 | + params: {} |
| 42 | +- id: lychee |
| 43 | + registry_name: lychee01_fruits_veggies_robolab |
| 44 | + params: {} |
| 45 | +- id: orange |
| 46 | + registry_name: orange_01_fruits_veggies_robolab |
| 47 | + params: {} |
| 48 | +- id: pomegranate |
| 49 | + registry_name: pomegranate01_fruits_veggies_robolab |
| 50 | + params: {} |
| 51 | +- id: red_onion |
| 52 | + registry_name: red_onion_fruits_veggies_robolab |
| 53 | + params: {} |
| 54 | +- id: red_bell_pepper |
| 55 | + registry_name: red_bell_pepper_objaverse_robolab |
| 56 | + params: {} |
| 57 | +- id: sweet_potato |
| 58 | + registry_name: sweet_potato |
| 59 | + params: {} |
| 60 | +- id: pumpkin |
| 61 | + registry_name: pumpkinsmall_vomp_robolab |
| 62 | + params: {} |
| 63 | +- id: pineapple |
| 64 | + registry_name: pineapple_slices_can_hope_robolab |
| 65 | + params: {} |
| 66 | +- id: peas_and_carrots |
| 67 | + registry_name: peas_and_carrots_hope_robolab |
| 68 | + params: {} |
| 69 | +object_references: |
| 70 | +- id: counter_top |
| 71 | + parent_id: kitchen |
| 72 | + prim_path: counter_main_main_group/top_geometry_right |
| 73 | + object_type: base |
| 74 | + params: {} |
| 75 | +- id: floor |
| 76 | + parent_id: kitchen |
| 77 | + prim_path: floor_room/geometry |
| 78 | + object_type: base |
| 79 | + params: {} |
| 80 | +relations: |
| 81 | +- kind: is_anchor |
| 82 | + subject: counter_top |
| 83 | + params: {} |
| 84 | +- kind: is_anchor |
| 85 | + subject: floor |
| 86 | + params: {} |
| 87 | +- kind: 'on' |
| 88 | + subject: droid |
| 89 | + reference: floor |
| 90 | + params: {} |
| 91 | +- kind: next_to |
| 92 | + subject: droid |
| 93 | + reference: counter_top |
| 94 | + params: |
| 95 | + side: negative_y |
| 96 | + distance_m: 0.3 |
| 97 | +- kind: rotate_around_solution |
| 98 | + subject: droid |
| 99 | + params: |
| 100 | + yaw_rad: 1.57 |
| 101 | +- kind: 'on' |
| 102 | + subject: banana |
| 103 | + reference: counter_top |
| 104 | + params: {} |
| 105 | +- kind: 'on' |
| 106 | + subject: plate |
| 107 | + reference: counter_top |
| 108 | + params: {} |
| 109 | +- kind: 'on' |
| 110 | + subject: apple |
| 111 | + reference: counter_top |
| 112 | + params: {} |
| 113 | +- kind: 'on' |
| 114 | + subject: avocado |
| 115 | + reference: counter_top |
| 116 | + params: {} |
| 117 | +- kind: 'on' |
| 118 | + subject: broccoli |
| 119 | + reference: counter_top |
| 120 | + params: {} |
| 121 | +- kind: 'on' |
| 122 | + subject: lemon |
| 123 | + reference: counter_top |
| 124 | + params: {} |
| 125 | +- kind: 'on' |
| 126 | + subject: lime |
| 127 | + reference: counter_top |
| 128 | + params: {} |
| 129 | +- kind: 'on' |
| 130 | + subject: lychee |
| 131 | + reference: counter_top |
| 132 | + params: {} |
| 133 | +- kind: 'on' |
| 134 | + subject: orange |
| 135 | + reference: counter_top |
| 136 | + params: {} |
| 137 | +- kind: 'on' |
| 138 | + subject: pomegranate |
| 139 | + reference: counter_top |
| 140 | + params: {} |
| 141 | +- kind: 'on' |
| 142 | + subject: red_onion |
| 143 | + reference: counter_top |
| 144 | + params: {} |
| 145 | +- kind: 'on' |
| 146 | + subject: red_bell_pepper |
| 147 | + reference: counter_top |
| 148 | + params: {} |
| 149 | +- kind: 'on' |
| 150 | + subject: sweet_potato |
| 151 | + reference: counter_top |
| 152 | + params: {} |
| 153 | +- kind: 'on' |
| 154 | + subject: pumpkin |
| 155 | + reference: counter_top |
| 156 | + params: {} |
| 157 | +- kind: 'on' |
| 158 | + subject: pineapple |
| 159 | + reference: counter_top |
| 160 | + params: {} |
| 161 | +- kind: 'on' |
| 162 | + subject: peas_and_carrots |
| 163 | + reference: counter_top |
| 164 | + params: {} |
| 165 | +task: |
| 166 | + composition: atomic |
| 167 | + description: DROID picks up the banana from the counter top and places it on the plate. |
| 168 | + subtasks: |
| 169 | + - kind: PickAndPlaceTask |
| 170 | + params: |
| 171 | + pick_up_object: banana |
| 172 | + destination_location: plate |
| 173 | + background_scene: kitchen |
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