refine #6 add semantic yaml

habitat-lab/habitat/config/benchmark/rearrange/skills/place_spot_pretrain_feature.yaml

@@ -25,6 +25,7 @@ habitat:
     obs_keys:
       - arm_rgb_pretrain_visual_feature_sensor
       - pretrain_textual_feature_goal_sensor
+      - relative_end_effector_orientation_sensor
       - articulated_agent_arm_depth
       - joint
       - is_holding
@@ -42,14 +43,23 @@ habitat:
         count_coll_end_pen: 5
         # We want to check if the object is placed on the receptacle
         obj_at_receptacle_success: True
+        # We want to give the reward for ee orientation to initial orientation
+        use_ee_ori: True
       place_success:
         ee_resting_success_threshold: -1.0
         # We want to check if the object is placed on the receptacle
         obj_at_receptacle_success: True
+        # We want to check if the robot maintains the same ee's orientation
+        ee_orientation_to_initial_threshold: 0.15
       obj_at_goal:
         # We want this number to be as small as possible
         # since we want the robot to place the object precisely on the receptacle
         succ_thresh: 0.05
+      obj_at_receptacle:
+        vertical_diff_threshold: 0.10
+        horizontal_diff_threshold: 0.30
+        surface_vertical_diff_threshold: -1.0
+        snap_down_surface_vertical_diff_threshold: 0.10
     lab_sensors:
       # We can only control 4 of the joints of Spot's arm
       joint_sensor:
@@ -79,3 +89,4 @@ habitat:
         joint_that_can_control: [1, 1, 0, 1, 0, 1, 0]
         # The real-world gaze ready location
         joint_start_override: [0, -2.792, 0, 1.745, 0, 1.571, 0]
+        joint_start_override_random: [[0, -3.14, 0, 3.14, 0, 0, 1.57], [0, -3.14, 0, 3.14, 0, 0, -1.57], [-0.016, -1.621, 0, 1.592, 0, 1.571, 0],  [-0.046, -1.920, 0, 2.094, 0, 1.396, 0]]