question on how to achieve to config serveral subgoal in yaml file

[jbpen]

Hello, I encountered problems during the usage process.
In the minimal.yaml，generation_config is as follows. Now, how should I set up the goal of the generation_config if I want to complete multiple sub-tasks? For example, the instruction is "put the fruits (there are banna, apple, pear on the table) on the top of the vintage rusty frying pan", how do I set goal of generation_config.

[Axi404]

Hello, thank you very much for your question and feedback. Due to the core maintainer’s (my) health condition, our documentation has only been updated for the first section — the explanation of each config item. The corresponding Best Practices have not yet been updated. We will try our best to complete them within one to two weeks.

Back to your question: the answer depends on your requirement — whether you want any one of the fruits to be placed into the container, or all of them. In other words, whether you want an OR or AND relationship. Our Goal List follows an Any(All(goal)) validation logic. As you can see, it is a two-level list.

If your requirement is any fruit, it should be:

[[{apple in pan}], [{banana in pan}], [{pear in pan}]]

meaning that satisfying any one of the three is enough. During generation, our program will first randomly choose one goal and then execute it.

If your requirement is all fruits, then you should use:

[[{apple in pan}, {banana in pan}, {pear in pan}]]

This “main-AND-sub-OR” style allows us to express arbitrary logical conditions. During generation, this configuration will cause the model to execute the goals strictly in order. You can add the key is_shuffle to randomize the order.

Additionally, if the pan is small and placing three items inside causes stacking, you currently need to manually instruct the program to ignore XY overlap checks for existing objects. For each goal, add something like ignore_uid: [banana, apple] (for pear). Admittedly, this design is a bit inconvenient, and we may look for a more intuitive solution in the future.

[jbpen]

ok，thank you! The generation_config is as follows. The task's instruction is: put the banana and apple on the top of the vintage rusty frying pan，I should use: [[{apple in pan}], [{banana in pan}]]，but I don't understand how to config it in the goal of the generation_config，can you give a simple example about it?

---

generation_config: &id002
action_path:
mode: auto
robot: 0
articulation: []
goal:
- - obj1_uid: '0'
obj2_uid: '1'
position: top
fixed_position: true
allow_fixed_grasp: true
force_fixed_grasp: true
mode: manual
planner: curobo
instruction: put the banana and apple on the top of the vintage rusty frying pan.
layout_config: &id003
ignored_objects: []
type: None
mode: manual
num_episode: 2
object_config: &id004
'0':
type: existed_object
uid_list:
- fb1b6fc41f7e49adbf467e5e5988d190 # banana
'1':
type: existed_object
uid_list:
- 1fdc84a7be2c4348b281490c89d76062 # frying pan
'2':
type: existed_object
uid_list:
- dc5a0c0c439942d58d038a10d7064c91 # apple

[Axi404]

Replace goal with:

    goal:
    - - obj1_uid:
        - '0'
        obj2_uid:
        - '1'
        position:
        - top
      - obj1_uid:
        - '2'
        obj2_uid:
        - '1'
        position:
        - top

Also, I fully understand it is hard to read yaml format. GenManip also support config file with same content but in json as config, maybe it can be better.
In Json format, it is:

"goal":
[
    [
        {
            "obj1_uid": ["0"],
            "obj2_uid": ["1"],
            "position": ["top"],
        },
        {
            "obj1_uid": ["2"],
            "obj2_uid": ["1"],
            "position": ["top"],
        }
    ]
]

[jbpen]

ok, thank you!

[Axi404]

Oh, I forget to add ignored_uid, add it if needed:

    goal:
    - - obj1_uid:
        - '0'
        obj2_uid:
        - '1'
        position:
        - top
      - obj1_uid:
        - '2'
        obj2_uid:
        - '1'
        position:
        - top
        ignored_uid:
        - '0'