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config_generation_pigi.yaml
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config_generation_pigi.yaml
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## all relative paths in this file has pybullet_planning as the root dir
## debug related
seed: null
verbose: true
## configuration for PDDLStream
planner:
visualization: false
scene_only: false
use_heuristic_fc: false
dataset_mode: true
downward_time: 10
evaluation_time: 30
stream_planning_timeout: 60
total_planning_timeout: 360
max_plans: 25
max_solutions: 1
log_failures: false
## specify the TAMP problem with preconfigured scene layout & robot
problem:
problem: 'test_full_kitchen'
goal_variations: [21]
domain_pddl: 'pr2_domain_pigi.pddl'
stream_pddl: 'pr2_stream_pigi.pddl'
use_skeleton_constraints: false
use_subgoal_constraints: false
use_all_grasps: false
use_rel_pose: false
preview_plan: false
preview_scene: false
## outputs to generate
data:
exp_dir: '../outputs'
exp_subdir: 'custom_piginet_data'
exp_name: 'original'
record_problem: true
record_mp4: false
save_testcase: true
robot:
robot_name: 'pr2'
draw_base_limits: true
## pybullet related
sim:
viewer: true
lock: true
simulate: false
teleport: false
drive: false
cfree: false
disable_movable_collision: false
disable_base_collision: false
time_step: 0.05
camera: false
segment: false
monitoring: false