YAML: taskclassTaskConfig

Task

Declares a complete task flow: a sequence of actions executed in order, then a set of goal conditions verified at the end.

sourcefastsim/task/task_cfg.py

Top-level fields ActionConfig (actions[*])GoalConfig (goals[*] or goal_config)Example

Top-level Fields5

Field	Type	Required	Default	Description / Constraints
`name`	string	optional	—	Task name
`description`	string	optional	—	Task description
`actions`	list[ActionConfig]	optional	`[]`	Action list executed in order; each action may carry an immediate validation goal via goal_config
`goals`	list[GoalConfig]	optional	`[]`	Final goal list evaluated after all actions complete; all must be satisfied for task success
`retry_config`	RetryConfig	optional	`null`	Global retry config applied to all actions; individual actions can override with their own retry_config

ActionConfig (actions[*])

Each action is typed by stereotype (e.g. pick, place, move) and instantiated by ActionController.execute_action(). VisualizationConfig is a nested config controlling simulator visualization.

classActionConfigfastsim/extensions/common/action/action.py

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	Action type (e.g. pick / place / move / grasp)
`name`	string	optional	—	Action name
`description`	string	optional	—	Action description
`robot_name`	string	optional	—	Robot instance name that executes this action (matches key in scene.robot_cfg_dict)
`goal_config`	GoalConfig	optional	—	Immediate validation goal after this action (optional); failure aborts the task
`visualization_config`	VisualizationConfig	optional	—	Visualization toggles (planned path, end-effector pose, target bounding box, etc.); see VisualizationConfig
`wait_robot_stopped`	bool	optional	`false`	Whether to wait for the robot to fully stop before executing
`wait_robot_stopped_timeout`	float	optional	`3.0`	Timeout in seconds for waiting for the robot to stop
`save_snapshot`	bool	optional	`false`	Whether to save a scene snapshot before execution (for debugging/rollback)
`snapshot_dir`	string	optional	—	Directory for snapshot files
`retry_config`	RetryConfig	optional	`null`	Per-action retry config (overrides task-level); see RetryConfig
`extra_parameters`	dict	optional	`{}`	Extra parameters for the specific stereotype, interpreted by the subclass (e.g. object_name, target_name)

classRetryConfigfastsim/extensions/common/action/action.py

Field	Type	Required	Default	Description / Constraints
`rules`	list[RetryRule]	optional	`[]`	List of retry rules evaluated top-to-bottom; first match wins. Empty = no retry

classRetryRulefastsim/extensions/common/action/action.py

Field	Type	Required	Default	Description / Constraints
`condition`	enum	optional	`all`	Failure type that triggers this rule ⚠all / goal_not_satisfied / execution_failed
`reason_pattern`	string	optional	`null`	Substring match against failure message (e.g. distinguish IK_FAIL vs COLLISION); null = match any
`retry_times`	int	required	`0`	Max retry count for this rule ⚠>= 0
`retry_from`	string	optional	`null`	Action name to jump back to; null = retry self
`rollback_state`	bool	optional	`false`	Whether to restore snapshot taken before the retry target action

classVisualizationConfigfastsim/extensions/common/action/action.py

Field	Type	Required	Default	Description / Constraints
`simulator`	enum	optional	`isaaclab`	Simulator used for visualization ⚠isaaclab / mujoco / pybullet
`ee_pose_type`	enum	optional	`coordinate`	End-effector pose visualization style ⚠coordinate / axis
`enable_ee_pose_visualization`	bool	optional	`false`	Visualize the end-effector pose frame in the simulator
`enable_interact_pose_visualization`	bool	optional	`false`	Visualize the interaction pose
`enable_planner_robot_representation_visualization`	bool	optional	`false`	Visualize the planner's robot collision model representation
`enable_planner_world_representation_visualization`	bool	optional	`false`	Visualize the planner's world collision model representation
`enable_target_bounding_box_visualization`	bool	optional	`false`	Visualize the target object oriented bounding box (OBB)
`enable_ee_trajectory_visualization`	bool	optional	`false`	Visualize the planned EE trajectory computed via FK
`interact_pose_sample_num`	int \| null	optional	`null`	Randomly sample N interact poses for visualization; null = show all

classMoveTargetConfigfastsim/extensions/common/action/actions/low_level/move_action.py

Field	Type	Required	Default	Description / Constraints
`name`	string	optional	—	Target object name (movement reference)
`link`	string	optional	—	Link/part name on articulated target objects (e.g. door handle)
`is_rigid`	bool	optional	`true`	Whether target is a rigid body (true → default scale 0.001, false → 1.0)
`wait_stopped_timeout`	float	optional	`3.0`	Timeout for waiting for target to stop (seconds)

classMovePoseConfigfastsim/extensions/common/action/actions/low_level/move_action.py

Field	Type	Required	Default	Description / Constraints
`source`	enum	required	`inline`	Pose source ⚠inline / local / remote
`data`	dict \| string	required	`{}`	Pose data (dict for inline) or file path (string for local/remote)
`frame`	enum	required	`world`	Pose reference frame ⚠world / robot_base / target
`ee_convention`	string \| list[4]	optional	`z`	EE forward axis convention in the pose dataset. String for gripper axis (z / -x / etc.), quaternion [w,x,y,z] for dexterous hand

classMoveActionConfigstereotypemoveextendsActionConfigfastsim/extensions/common/action/actions/low_level/move_action.py

Field	Type	Required	Default	Description / Constraints
`arm_name`	string	optional	`null`	Arm module name for ModularRobot; null uses the default ee_link_name
`target`	MoveTargetConfig	optional	—	Target object configuration; see MoveTargetConfig
`pose`	MovePoseConfig	required	—	Pose configuration; see MovePoseConfig
`move_with_collision_check`	bool	required	`true`	Whether to enable collision checking during movement
`planner_step_size`	int	required	`1`	Planner execution step size

Inherited fromActionConfig9

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"move"
`name`	string	optional	—	Action name
`description`	string	optional	—	Action description
`robot_name`	string	required	—	Robot instance name that executes this action
`goal_config`	GoalConfig	optional	—	Immediate validation goal after this action
`visualization_config`	VisualizationConfig	optional	—	Visualization toggles
`wait_robot_stopped`	bool	optional	`false`	Wait for robot to fully stop before executing
`wait_robot_stopped_timeout`	float	optional	`3.0`	Timeout for waiting for robot to stop
`extra_parameters`	dict	optional	`{}`	Extra parameters

classNavigateActionConfigstereotypenavigateextendsActionConfigfastsim/extensions/common/action/actions/low_level/navigate_action.py

Field	Type	Required	Default	Description / Constraints
`target_position`	list[2]	required	—	Target position [x, y] on ground plane
`target_orientation`	float	optional	`0.0`	Target yaw angle in radians
`timeout`	float	optional	`60.0`	Navigation timeout in seconds
`pos_tolerance`	float	optional	`0.05`	Position tolerance in meters
`angle_tolerance`	float	optional	`0.1`	Angle tolerance in radians

Inherited fromActionConfig5

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"navigate"
`name`	string	optional	—	Action name
`robot_name`	string	required	—	Robot instance name
`goal_config`	GoalConfig	optional	—	Immediate validation goal
`extra_parameters`	dict	optional	`{}`	Extra parameters

classGraspActionConfigstereotypegraspextendsActionConfigfastsim/extensions/common/action/actions/low_level/grasp_action.py

Field	Type	Required	Default	Description / Constraints
`arm_name`	string	required	—	Arm module name (matches key in modules.arms)
`ee_timeout`	float	required	`6.0`	End-effector action timeout (seconds) ⚠> 0
`stuck_window_sec`	float	required	`0.3`	Time window (seconds) over which EE joints must stay within stuck_threshold to count as stopped
`stuck_threshold`	float	required	`0.0035`	Max per-joint position range within stuck_window_sec to count as stopped. Unit: m for prismatic, rad for revolute
`min_travel`	float	required	`0.005`	Required \|joint_pos - initial\| before stuck detection activates (avoids tripping before EE starts moving)
`empty_grasp_threshold`	float	required	`0`	After stuck detection, if EE is within this threshold of close position, treat as empty grasp (fail). Default 0 = disabled

Inherited fromActionConfig9

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"grasp"
`name`	string	optional	—	Action name
`description`	string	optional	—	Action description
`robot_name`	string	required	—	Robot instance name
`goal_config`	GoalConfig	optional	—	Immediate validation goal
`visualization_config`	VisualizationConfig	optional	—	Visualization toggles
`wait_robot_stopped`	bool	optional	`false`	Wait for robot to stop before executing
`wait_robot_stopped_timeout`	float	optional	`3.0`	Wait-for-stop timeout
`extra_parameters`	dict	optional	`{}`	Extra parameters

classReleaseActionConfigstereotypereleaseextendsActionConfigfastsim/extensions/common/action/actions/low_level/release_action.py

Field	Type	Required	Default	Description / Constraints
`arm_name`	string	required	—	Arm module name (matches key in modules.arms)
`release_timeout`	float	required	`6.0`	Release timeout (seconds) ⚠> 0
`wait_ee_open`	bool	required	`true`	Whether to wait for end-effector to fully open
`position_threshold`	float	optional	`0.02`	Position threshold below which the EE is considered fully open
`force_open_ee`	bool	optional	`false`	Force send open command even if EE is already open

Inherited fromActionConfig9

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"release"
`name`	string	optional	—	Action name
`description`	string	optional	—	Action description
`robot_name`	string	required	—	Robot instance name
`goal_config`	GoalConfig	optional	—	Immediate validation goal
`visualization_config`	VisualizationConfig	optional	—	Visualization toggles
`wait_robot_stopped`	bool	optional	`false`	Wait for robot to stop
`wait_robot_stopped_timeout`	float	optional	`3.0`	Wait-for-stop timeout
`extra_parameters`	dict	optional	`{}`	Extra parameters

classSafeReleaseActionConfigstereotypesafe_releaseextendsReleaseActionConfigfastsim/extensions/common/action/actions/high_level/safe_release_action.py

Field	Type	Required	Default	Description / Constraints
`partial_open_ratio`	float	required	`0.4`	Pre-release opening ratio (0=closed, 1=fully open) ⚠[0, 1]
`partial_open_timeout`	float	optional	`6.0`	Timeout to reach partial opening (seconds) ⚠> 0
`partial_open_threshold`	float	optional	`0.02`	Position threshold for partial opening ⚠> 0
`retreat_distance`	float	required	`0.05`	Retreat distance along negative current EE local Z (meters) ⚠>= 0

Inherited fromReleaseActionConfig3

Field	Type	Required	Default	Description / Constraints
`arm_name`	string	required	—	Arm module name
`release_timeout`	float	required	`6.0`	Full release timeout
`force_open_ee`	bool	optional	`false`	Force open EE

Inherited fromActionConfig2

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"safe_release"
`robot_name`	string	required	—	Robot instance name

classPlannerAttachConfigfastsim/extensions/common/action/actions/high_level/acquire_action.py

Field	Type	Required	Default	Description / Constraints
`target_link_name`	string	optional	—	Target link name on the object (required for articulated objects)
`planner_link_name`	string	optional	`attached_object`	Planner link name for the attached object
`position_offset`	list[3]	optional	`[0, 0, 0]`	Attachment position offset [x, y, z] in meters
`rotation_offset`	list[4]	optional	`[1, 0, 0, 0]`	Attachment rotation offset (quaternion [w, x, y, z])
`restore_offset_after_post_acquire`	bool	optional	`true`	Whether to restore offset after post-acquire motion
`enable_physics_attach`	bool	optional	`false`	If True, also create a PhysX FixedJoint between target_link_name and the grasped object so it cannot slip / drop. Detached automatically by ReleaseAction

classAcquireActionConfigstereotypeacquireextendsGraspActionConfig, MoveActionConfigfastsim/extensions/common/action/actions/high_level/acquire_action.py

Field	Type	Required	Default	Description / Constraints
`planner_attach_config`	PlannerAttachConfig	optional	—	Planner attachment configuration; see PlannerAttachConfig
`post_acquire_ee_position_offset`	list[3]	required	`[0, 0, 0]`	End-effector position offset after acquire
`post_acquire_ee_rotation_offset`	list[4]	required	`[1, 0, 0, 0]`	End-effector rotation offset after acquire
`ee_offset_frame`	enum	required	`robot_base`	Offset reference frame ⚠robot_base / ee
`wait_post_acquire_timeout`	float	required	`6.0`	Post-acquire wait timeout (seconds)

Inherited fromGraspActionConfig2

Field	Type	Required	Default	Description / Constraints
`arm_name`	string	required	—	Arm module name
`ee_timeout`	float	required	`6.0`	End-effector action timeout

Inherited fromMoveActionConfig4

Field	Type	Required	Default	Description / Constraints
`target`	MoveTargetConfig	optional	—	Target object configuration; see MoveTargetConfig
`pose`	MovePoseConfig	required	—	Pose configuration; see MovePoseConfig
`move_with_collision_check`	bool	required	`true`	Enable collision checking
`planner_step_size`	int	required	`1`	Planner step size

Inherited fromActionConfig9

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"acquire"
`name`	string	optional	—	Action name
`description`	string	optional	—	Action description
`robot_name`	string	required	—	Robot instance name
`goal_config`	GoalConfig	optional	—	Immediate validation goal
`visualization_config`	VisualizationConfig	optional	—	Visualization toggles
`wait_robot_stopped`	bool	optional	`false`	Wait for robot to stop
`wait_robot_stopped_timeout`	float	optional	`3.0`	Wait-for-stop timeout
`extra_parameters`	dict	optional	`{}`	Extra parameters

classContactSpecfastsim/extensions/common/action/alignment.py

Field	Type	Required	Default	Description / Constraints
`directions`	list[list[3]]	required	—	List of contact direction vectors in object body frame. Single face: [[x,y,z]]. Multi-face: list of 3-vectors
`positions`	list[list[3]]	optional	`null`	Contact point list paired with directions by index. null = all at origin

classAlignmentConfigfastsim/extensions/common/action/alignment.py

Field	Type	Required	Default	Description / Constraints
`object_contact`	ContactSpec	required	—	Contact spec on the held object
`anchor_contact`	ContactSpec	required	—	Contact spec on the anchor (target) object
`sample_count`	int	optional	`36`	Free rotation samples per face pair. Total candidates = \|object_faces\| × \|anchor_faces\| × sample_count

classPlaceActionConfigstereotypeplaceextendsReleaseActionConfig, MoveActionConfigfastsim/extensions/common/action/actions/high_level/place_action.py

Field	Type	Required	Default	Description / Constraints
`held_object`	HeldObjectConfig	optional	`null`	Held object config
`alignment`	AlignmentConfig	optional	`null`	Shared contact alignment config; when set, overrides pose and auto-computes placement
`pre_place_distance`	float	optional	`null`	Standoff distance along negative anchor direction before placing; null = move directly
`place_offset`	list[3]	optional	`[0, 0, 0]`	Extra world-frame offset on the computed place position
`grasped_target_name`	string	optional	—	Grasped target name (legacy; prefer held_object)
`wait_released_target_stopped`	bool	required	`false`	Whether to wait for released target to stop
`wait_released_target_stopped_timeout`	float	required	`6.0`	Wait for released target to stop timeout

Inherited fromReleaseActionConfig3

Field	Type	Required	Default	Description / Constraints
`arm_name`	string	required	—	Arm module name
`release_timeout`	float	required	`6.0`	Release timeout
`wait_ee_open`	bool	required	`true`	Wait for EE to fully open

Inherited fromMoveActionConfig4

Field	Type	Required	Default	Description / Constraints
`target`	MoveTargetConfig	optional	—	Target object configuration
`pose`	MovePoseConfig	required	—	Pose configuration (used when alignment is null)
`move_with_collision_check`	bool	required	`true`	Collision checking
`planner_step_size`	int	required	`1`	Planner step size

Inherited fromActionConfig9

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"place"
`name`	string	optional	—	Action name
`description`	string	optional	—	Action description
`robot_name`	string	required	—	Robot instance name
`goal_config`	GoalConfig	optional	—	Immediate validation goal
`visualization_config`	VisualizationConfig	optional	—	Visualization toggles
`wait_robot_stopped`	bool	optional	`false`	Wait for robot to stop
`wait_robot_stopped_timeout`	float	optional	`3.0`	Wait-for-stop timeout
`extra_parameters`	dict	optional	`{}`	Extra parameters

classPourActionConfigstereotypepourextendsMoveActionConfigfastsim/extensions/common/action/actions/high_level/pour_action.py

Field	Type	Required	Default	Description / Constraints
`arm_name`	string	required	—	Arm module name
`held_object`	HeldObjectConfig	required	—	Held container config (object name required)
`pour_trajectory`	PourTrajectoryConfig	required	—	Pour trajectory parameters

Inherited fromMoveActionConfig3

Field	Type	Required	Default	Description / Constraints
`target`	MoveTargetConfig	optional	—	Target object configuration
`pose`	MovePoseConfig	required	—	Pose configuration
`move_with_collision_check`	bool	required	`true`	Collision checking

Inherited fromActionConfig3

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"pour"
`robot_name`	string	required	—	Robot instance name
`extra_parameters`	dict	optional	`{}`	Extra parameters

classPourTrajectoryConfigfastsim/extensions/common/action/actions/high_level/pour_action.py

Field	Type	Required	Default	Description / Constraints
`alignment`	AlignmentConfig	required	—	Pour contact alignment (shared AlignmentConfig); defines spout-to-anchor contact spec
`pre_pour_distance`	float	optional	`0.15`	Standoff distance above target before pouring; null/0 = skip
`interpolation_steps`	int	optional	`50`	SLERP interpolation steps from upright to tilted

classPickActionConfigstereotypepickextendsAcquireActionConfigfastsim/extensions/common/action/actions/high_level/pick_action.py

Field	Type	Required	Default	Description / Constraints
`pick_up_distance`	float	required	`0.02`	Pick-up distance (meters) ⚠>= 0
`pick_up_timeout`	float	required	`6.0`	Pick-up timeout (seconds)

Inherited fromAcquireActionConfig5

Field	Type	Required	Default	Description / Constraints
`planner_attach_config`	PlannerAttachConfig	optional	—	Planner attachment config; see PlannerAttachConfig
`post_acquire_ee_position_offset`	list[3]	required	`[0, 0, 0]`	Post-acquire EE position offset
`post_acquire_ee_rotation_offset`	list[4]	required	`[1, 0, 0, 0]`	Post-acquire EE rotation offset
`ee_offset_frame`	enum	required	`robot_base`	Offset reference frame
`wait_post_acquire_timeout`	float	required	`6.0`	Post-acquire timeout

Inherited fromGraspActionConfig2

Field	Type	Required	Default	Description / Constraints
`ee_timeout`	float	required	`6.0`	EE action timeout
`arm_name`	string	required	—	Arm module name

Inherited fromMoveActionConfig4

Field	Type	Required	Default	Description / Constraints
`target`	MoveTargetConfig	optional	—	Target object configuration; see MoveTargetConfig
`pose`	MovePoseConfig	required	—	Pose configuration; see MovePoseConfig
`move_with_collision_check`	bool	required	`true`	Collision checking
`planner_step_size`	int	required	`1`	Planner step size

Inherited fromActionConfig9

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"pick"
`name`	string	optional	—	Action name
`description`	string	optional	—	Action description
`robot_name`	string	required	—	Robot instance name
`goal_config`	GoalConfig	optional	—	Immediate validation goal
`visualization_config`	VisualizationConfig	optional	—	Visualization toggles
`wait_robot_stopped`	bool	optional	`false`	Wait for robot to stop
`wait_robot_stopped_timeout`	float	optional	`3.0`	Wait-for-stop timeout
`extra_parameters`	dict	optional	`{}`	Extra parameters

classPushActionConfigstereotypepushextendsGraspActionConfig, MoveActionConfigfastsim/extensions/common/action/actions/high_level/push_action.py

Field	Type	Required	Default	Description / Constraints
`push_distance`	float	required	`0.02`	Push distance (meters) ⚠>= 0

Inherited fromGraspActionConfig2

Field	Type	Required	Default	Description / Constraints
`ee_timeout`	float	required	`6.0`	EE action timeout
`arm_name`	string	required	—	Arm module name

Inherited fromMoveActionConfig4

Field	Type	Required	Default	Description / Constraints
`target`	MoveTargetConfig	optional	—	Target object configuration; see MoveTargetConfig
`pose`	MovePoseConfig	required	—	Pose configuration; see MovePoseConfig
`move_with_collision_check`	bool	required	`true`	Collision checking
`planner_step_size`	int	required	`1`	Planner step size

Inherited fromActionConfig9

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"push"
`name`	string	optional	—	Action name
`description`	string	optional	—	Action description
`robot_name`	string	required	—	Robot instance name
`goal_config`	GoalConfig	optional	—	Validation goal
`visualization_config`	VisualizationConfig	optional	—	Visualization toggles
`wait_robot_stopped`	bool	optional	`false`	Wait for robot to stop
`wait_robot_stopped_timeout`	float	optional	`3.0`	Wait-for-stop timeout
`extra_parameters`	dict	optional	`{}`	Extra parameters

classPullActionConfigstereotypepullextendsAcquireActionConfigfastsim/extensions/common/action/actions/high_level/pull_action.py

Field	Type	Required	Default	Description / Constraints
`pull_distance`	float	required	`0.02`	Pull distance (meters) ⚠>= 0
`pull_direction`	list[3]	optional	`[0, 0, -1]`	Unit direction vector to pull along
`pull_frame`	enum	optional	`ee`	Reference frame for pull direction ⚠ee / robot_base

Inherited fromAcquireActionConfig5

Field	Type	Required	Default	Description / Constraints
`planner_attach_config`	PlannerAttachConfig	optional	—	Planner attachment config; see PlannerAttachConfig
`post_acquire_ee_position_offset`	list[3]	required	`[0, 0, 0]`	Post-acquire EE position offset
`post_acquire_ee_rotation_offset`	list[4]	required	`[1, 0, 0, 0]`	Post-acquire EE rotation offset
`ee_offset_frame`	enum	required	`robot_base`	Offset reference frame
`wait_post_acquire_timeout`	float	required	`6.0`	Post-acquire timeout

Inherited fromGraspActionConfig2

Field	Type	Required	Default	Description / Constraints
`ee_timeout`	float	required	`6.0`	EE action timeout
`arm_name`	string	required	—	Arm module name

Inherited fromMoveActionConfig4

Field	Type	Required	Default	Description / Constraints
`target`	MoveTargetConfig	optional	—	Target object configuration; see MoveTargetConfig
`pose`	MovePoseConfig	required	—	Pose configuration; see MovePoseConfig
`move_with_collision_check`	bool	required	`true`	Collision checking
`planner_step_size`	int	required	`1`	Planner step size

Inherited fromActionConfig9

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"pull"
`name`	string	optional	—	Action name
`description`	string	optional	—	Action description
`robot_name`	string	required	—	Robot instance name
`goal_config`	GoalConfig	optional	—	Validation goal
`visualization_config`	VisualizationConfig	optional	—	Visualization toggles
`wait_robot_stopped`	bool	optional	`false`	Wait for robot to stop
`wait_robot_stopped_timeout`	float	optional	`3.0`	Wait-for-stop timeout
`extra_parameters`	dict	optional	`{}`	Extra parameters

classRevoluteConfigfastsim/extensions/common/action/actions/high_level/pull_revolute_action.py

Field	Type	Required	Default	Description / Constraints
`joint_name`	string	required	—	Revolute joint name on the articulated object
`joint_link_name`	string	required	—	Link name of the revolute joint (e.g. door_hinge_link)
`pull_angle`	float	required	—	Rotation angle magnitude (radians); sign derived from initial_direction ⚠Must not be 0
`initial_direction`	list[3]	optional	`[0, -1, 0]`	Desired initial pull direction vector
`pull_frame`	string	optional	`robot_base`	Reference frame for direction ⚠robot_base / world / joint
`waypoint_count`	int	optional	`10`	Number of interpolated waypoints along the arc
`move_with_collision_check`	bool	optional	`false`	Whether to use motion planner for each waypoint (false = direct IK tracking)
`use_mpc`	bool	optional	`false`	Use realtime MPC to track the whole path (via MotionPlanController.start_realtime_tracking)
`completion_tolerance`	float	optional	`0.1`	Joint position error tolerance (rad) for post-action completion check ⚠> 0

classPullRevoluteActionConfigstereotypepull_revoluteextendsAcquireActionConfig, SafeReleaseActionConfigfastsim/extensions/common/action/actions/high_level/pull_revolute_action.py

Field	Type	Required	Default	Description / Constraints
`revolute`	RevoluteConfig	required	—	Revolute motion parameters; see RevoluteConfig

Inherited fromAcquireActionConfig5

Field	Type	Required	Default	Description / Constraints
`planner_attach_config`	PlannerAttachConfig	optional	—	Planner attachment config; see PlannerAttachConfig
`post_acquire_ee_position_offset`	list[3]	required	`[0, 0, 0]`	Post-acquire EE position offset
`post_acquire_ee_rotation_offset`	list[4]	required	`[1, 0, 0, 0]`	Post-acquire EE rotation offset
`ee_offset_frame`	enum	required	`robot_base`	Offset reference frame
`wait_post_acquire_timeout`	float	required	`6.0`	Post-acquire timeout

Inherited fromGraspActionConfig2

Field	Type	Required	Default	Description / Constraints
`ee_timeout`	float	required	`6.0`	EE action timeout
`arm_name`	string	required	—	Arm module name

Inherited fromMoveActionConfig4

Field	Type	Required	Default	Description / Constraints
`target`	MoveTargetConfig	optional	—	Target object configuration; see MoveTargetConfig
`pose`	MovePoseConfig	required	—	Pose configuration; see MovePoseConfig
`move_with_collision_check`	bool	required	`true`	Collision checking
`planner_step_size`	int	required	`1`	Planner step size

Inherited fromActionConfig9

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"pull_revolute"
`name`	string	optional	—	Action name
`description`	string	optional	—	Action description
`robot_name`	string	required	—	Robot instance name
`goal_config`	GoalConfig	optional	—	Validation goal
`visualization_config`	VisualizationConfig	optional	—	Visualization toggles
`wait_robot_stopped`	bool	optional	`false`	Wait for robot to stop
`wait_robot_stopped_timeout`	float	optional	`3.0`	Wait-for-stop timeout
`extra_parameters`	dict	optional	`{}`	Extra parameters

classPushRevoluteConfigfastsim/extensions/common/action/actions/high_level/push_revolute_action.py

Field	Type	Required	Default	Description / Constraints
`joint_name`	string	required	—	Revolute joint name on the articulated object
`joint_link_name`	string	optional	—	Link name of the joint (falls back to joint_name)
`push_angle`	float	required	—	Rotation angle magnitude in radians; must not be 0
`initial_direction`	list[3]	optional	—	Desired initial push direction vector (in push_frame)
`push_frame`	string	optional	`robot_base`	Reference frame for direction ⚠robot_base / world / joint
`waypoint_count`	int	optional	`10`	Number of interpolated waypoints along the arc ⚠>= 1
`move_with_collision_check`	bool	optional	`false`	Whether to use motion planner for each waypoint
`push_position`	list[3]	optional	—	Target EE position in joint frame (used when push_frame=joint)
`use_mpc`	bool	optional	`false`	Use MPC for push (declared but currently no-op in PushRevoluteAction implementation)

classPushRevoluteActionConfigstereotypepush_revoluteextendsAcquireActionConfigfastsim/extensions/common/action/actions/high_level/push_revolute_action.py

Field	Type	Required	Default	Description / Constraints
`revolute`	PushRevoluteConfig	required	—	Push-revolute motion parameters; see PushRevoluteConfig

Inherited fromAcquireActionConfig3

Field	Type	Required	Default	Description / Constraints
`planner_attach_config`	PlannerAttachConfig	optional	—	Planner attachment config
`post_acquire_ee_position_offset`	list[3]	required	`[0, 0, 0]`	Post-acquire EE position offset
`ee_offset_frame`	enum	required	`robot_base`	Offset reference frame

Inherited fromGraspActionConfig2

Field	Type	Required	Default	Description / Constraints
`arm_name`	string	required	—	Arm module name
`ee_timeout`	float	required	`6.0`	EE action timeout

Inherited fromMoveActionConfig3

Field	Type	Required	Default	Description / Constraints
`target`	MoveTargetConfig	optional	—	Target object configuration
`pose`	MovePoseConfig	required	—	Pose configuration
`move_with_collision_check`	bool	required	`true`	Collision checking

Inherited fromActionConfig3

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"push_revolute"
`robot_name`	string	required	—	Robot instance name
`extra_parameters`	dict	optional	`{}`	Extra parameters

classPickAndPlaceActionConfigstereotypepick_and_placeextendsActionConfigfastsim/extensions/common/action/actions/high_level/pick_and_place_action.py

Field	Type	Required	Default	Description / Constraints
`arm_name`	string	optional	—	Arm module name (propagated to pick / place sub-actions)
`pick`	PickActionConfig	required	—	Pick sub-action configuration
`place`	PlaceActionConfig	required	—	Place sub-action configuration

Inherited fromActionConfig2

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"pick_and_place"
`robot_name`	string	required	—	Robot instance name

classPullAndPushRevoluteActionConfigstereotypepull_and_push_revoluteextendsAcquireActionConfig, SafeReleaseActionConfigfastsim/extensions/common/action/actions/high_level/pull_and_push_revolute_action.py

Field	Type	Required	Default	Description / Constraints
`revolute`	RevoluteConfig	required	—	Pull-revolute motion parameters (joint, angle, waypoints)
`push_revolute`	PushRevoluteConfig	required	—	Push-revolute motion parameters

Inherited fromSafeReleaseActionConfig2

Field	Type	Required	Default	Description / Constraints
`partial_open_ratio`	float	required	`0.4`	Pre-release opening ratio
`retreat_distance`	float	required	`0.05`	Retreat distance (meters)

Inherited fromAcquireActionConfig1

Field	Type	Required	Default	Description / Constraints
`planner_attach_config`	PlannerAttachConfig	optional	—	Planner attachment config

Inherited fromGraspActionConfig1

Field	Type	Required	Default	Description / Constraints
`arm_name`	string	required	—	Arm module name

Inherited fromMoveActionConfig2

Field	Type	Required	Default	Description / Constraints
`target`	MoveTargetConfig	optional	—	Target configuration
`pose`	MovePoseConfig	required	—	Pose configuration

Inherited fromActionConfig2

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"pull_and_push_revolute"
`robot_name`	string	required	—	Robot instance name

classTwistActionConfigstereotypetwistextendsAcquireActionConfigfastsim/extensions/common/action/actions/high_level/twist_action.py

Field	Type	Required	Default	Description / Constraints
`twist_angle`	float	required	`0`	Twist angle (radians)

Inherited fromAcquireActionConfig5

Field	Type	Required	Default	Description / Constraints
`planner_attach_config`	PlannerAttachConfig	optional	—	Planner attachment config; see PlannerAttachConfig
`post_acquire_ee_position_offset`	list[3]	required	`[0, 0, 0]`	Post-acquire EE offset
`post_acquire_ee_rotation_offset`	list[4]	required	`[1, 0, 0, 0]`	Post-acquire EE rotation offset
`ee_offset_frame`	enum	required	`robot_base`	Offset reference frame
`wait_post_acquire_timeout`	float	required	`6.0`	Post-acquire timeout

Inherited fromGraspActionConfig2

Field	Type	Required	Default	Description / Constraints
`ee_timeout`	float	required	`6.0`	EE timeout
`arm_name`	string	required	—	Arm module name

Inherited fromMoveActionConfig4

Field	Type	Required	Default	Description / Constraints
`target`	MoveTargetConfig	optional	—	Target object configuration; see MoveTargetConfig
`pose`	MovePoseConfig	required	—	Pose configuration; see MovePoseConfig
`move_with_collision_check`	bool	required	`true`	Collision checking
`planner_step_size`	int	required	`1`	Planner step size

Inherited fromActionConfig7

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"twist"
`name`	string	optional	—	Action name
`robot_name`	string	required	—	Robot instance name
`goal_config`	GoalConfig	optional	—	Validation goal
`visualization_config`	VisualizationConfig	optional	—	Visualization toggles
`wait_robot_stopped`	bool	optional	`false`	Wait for robot to stop
`extra_parameters`	dict	optional	`{}`	Extra parameters

classClickActionConfigstereotypeclickextendsPushActionConfigfastsim/extensions/common/action/actions/high_level/click_action.py

Field	Type	Required	Default	Description / Constraints
`click_distance`	float	required	`0.02`	Click distance (meters)

Inherited fromPushActionConfig1

Field	Type	Required	Default	Description / Constraints
`push_distance`	float	required	`0.02`	Push distance

Inherited fromGraspActionConfig2

Field	Type	Required	Default	Description / Constraints
`ee_timeout`	float	required	`6.0`	EE timeout
`arm_name`	string	required	—	Arm module name

Inherited fromMoveActionConfig4

Field	Type	Required	Default	Description / Constraints
`target`	MoveTargetConfig	optional	—	Target object configuration; see MoveTargetConfig
`pose`	MovePoseConfig	required	—	Pose configuration; see MovePoseConfig
`move_with_collision_check`	bool	required	`true`	Collision checking
`planner_step_size`	int	required	`1`	Planner step size

Inherited fromActionConfig7

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"click"
`name`	string	optional	—	Action name
`robot_name`	string	required	—	Robot instance name
`goal_config`	GoalConfig	optional	—	Validation goal
`visualization_config`	VisualizationConfig	optional	—	Visualization toggles
`wait_robot_stopped`	bool	optional	`false`	Wait for robot to stop
`extra_parameters`	dict	optional	`{}`	Extra parameters

classInsertActionConfigstereotypeinsertextendsPlaceActionConfigfastsim/extensions/common/action/actions/high_level/insert_action.py

Inherited fromPlaceActionConfig3

Field	Type	Required	Default	Description / Constraints
`grasped_target_name`	string	optional	—	Grasped target name
`wait_released_target_stopped`	bool	required	`false`	Wait for released target to stop
`wait_released_target_stopped_timeout`	float	required	`6.0`	Wait-for-released-target timeout

Inherited fromReleaseActionConfig3

Field	Type	Required	Default	Description / Constraints
`arm_name`	string	required	—	Arm module name
`release_timeout`	float	required	`6.0`	Release timeout
`wait_ee_open`	bool	required	`true`	Wait for EE open

Inherited fromMoveActionConfig4

Field	Type	Required	Default	Description / Constraints
`target`	MoveTargetConfig	optional	—	Target object configuration; see MoveTargetConfig
`pose`	MovePoseConfig	required	—	Pose configuration; see MovePoseConfig
`move_with_collision_check`	bool	required	`true`	Collision checking
`planner_step_size`	int	required	`1`	Planner step size

Inherited fromActionConfig7

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"insert"
`name`	string	optional	—	Action name
`robot_name`	string	required	—	Robot instance name
`goal_config`	GoalConfig	optional	—	Validation goal
`visualization_config`	VisualizationConfig	optional	—	Visualization toggles
`wait_robot_stopped`	bool	optional	`false`	Wait for robot to stop
`extra_parameters`	dict	optional	`{}`	Extra parameters

GoalConfig (goals[*] or goal_config)

Goal conditions are typed by stereotype (e.g. pose, on_top, inside, grasp_success) and evaluated via is_satisfied().

classGoalConfigfastsim/extensions/common/goal/goal.py

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	Goal type: pose / on_top / inside / grasped / articulated_joint_state
`name`	string	optional	—	Goal name
`description`	string	optional	—	Goal description
`extra_parameters`	dict	optional	`{}`	Extra params specific to this stereotype (e.g. object_name, target_name, tolerance)

classPoseGoalConfigstereotypeposeextendsGoalConfigfastsim/extensions/common/goal/goals/pose_goal.py

Field	Type	Required	Default	Description / Constraints
`position_tolerance`	float	optional	—	Position tolerance (meters); null skips position check ⚠>= 0
`rotation_tolerance`	float	optional	—	Rotation tolerance (radians); null skips rotation check ⚠>= 0
`position_offset`	list[3]	optional	`[0, 0, 0]`	Position offset [x, y, z]
`rotation_offset`	list[4]	optional	`[1, 0, 0, 0]`	Rotation offset (quaternion)
`pose_A_source`	enum	required	`ee`	Pose A source. ee = robot end-effector pose (params: robot_name, optional arm_name for ModularRobot; forced to world frame); spawnable = scene entity pose (params: spawnable_name; mobile robots auto-resolved via get_robot_navigation_pose); pose = literal pose built from params type/position/rotation ⚠ee / spawnable / pose
`pose_A_params`	dict	required	`{}`	Pose A lookup parameters, dispatched by source: ee → { robot_name, arm_name? }; spawnable → { spawnable_name }; pose → { type, position, rotation } where type is one of quaternion / rotation_matrix / homogeneous_matrix / euler_xyz / rot6d
`pose_B_source`	enum	required	`spawnable`	Pose B source (values and meanings identical to pose_A_source) ⚠ee / spawnable / pose
`pose_B_params`	dict	required	`{}`	Pose B lookup parameters (dispatched by source, same shape as pose_A_params)

Inherited fromGoalConfig4

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"pose"
`name`	string	optional	—	Goal name
`description`	string	optional	—	Goal description
`extra_parameters`	dict	optional	`{}`	Extra parameters

classOnTopGoalConfigstereotypeon_topextendsGoalConfigfastsim/extensions/common/goal/goals/on_top_goal.py

Field	Type	Required	Default	Description / Constraints
`object_A_name`	string	required	—	Object A name (should be on top)
`object_B_name`	string	required	—	Object B (target/container) name
`max_horizontal_offset`	float	optional	`0.01`	Max horizontal offset (meters)
`max_vertical_offset`	float	optional	`0.02`	Max vertical offset (meters)

Inherited fromGoalConfig4

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"on_top"
`name`	string	optional	—	Goal name
`description`	string	optional	—	Goal description
`extra_parameters`	dict	optional	`{}`	Extra parameters

classInsideGoalConfigstereotypeinsideextendsGoalConfigfastsim/extensions/common/goal/goals/inside_goal.py

Field	Type	Required	Default	Description / Constraints
`object_A_name`	string	required	—	Object A name (should be inside)
`object_B_name`	string	required	—	Container object name
`max_offset`	float	optional	`0.0`	Max offset (meters)

Inherited fromGoalConfig4

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"inside"
`name`	string	optional	—	Goal name
`description`	string	optional	—	Goal description
`extra_parameters`	dict	optional	`{}`	Extra parameters

classGraspedGoalConfigstereotypegraspedextendsGoalConfigfastsim/extensions/common/goal/goals/grasped_goal.py

Field	Type	Required	Default	Description / Constraints
`robot_name`	string	required	—	Robot holding the object
`arm_name`	string	optional	`null`	Arm module name (for ModularRobot)
`object_name`	string	required	—	Object expected to be grasped
`max_distance`	float	optional	`0.08`	Max EE-to-object distance (meters); below this threshold = grasped ⚠> 0

Inherited fromGoalConfig4

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"grasped"
`name`	string	optional	—	Goal name
`description`	string	optional	—	Goal description
`extra_parameters`	dict	optional	`{}`	Extra parameters

classArticulatedJointStateGoalConfigstereotypearticulated_joint_stateextendsGoalConfigfastsim/extensions/common/goal/goals/articulated_joint_state_goal.py

Field	Type	Required	Default	Description / Constraints
`object_name`	string	required	—	Articulated object name
`joint_positions`	dict[str, float]	required	`{}`	Joint name → target position map (must be non-empty). Units are joint-native: rad for revolute, m for prismatic ⚠Non-empty dict; keys must match exact joint names in USD/URDF
`tolerance`	float	optional	`0.001`	Per-joint absolute tolerance (joint native unit), shared by all joints ⚠>= 0

Inherited fromGoalConfig4

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"articulated_joint_state"
`name`	string	optional	—	Goal name
`description`	string	optional	—	Goal description
`extra_parameters`	dict	optional	`{}`	Extra parameters

Example

task:
  name: pick_and_place
  description: Pick the red cube and place it on the tray

  actions:
    - stereotype: pick
      name: pick_cube
      robot_name: arm
      wait_robot_stopped: true
      wait_robot_stopped_timeout: 5.0
      extra_parameters:
        object_name: cube
      goal_config:
        stereotype: grasp_success
        name: grasp_check
        extra_parameters: {}
      visualization_config:
        enable_ee_pose_visualization: false
        enable_target_bounding_box_visualization: true
        ee_pose_type: coordinate

    - stereotype: place
      name: place_cube_on_tray
      robot_name: arm
      extra_parameters:
        target_name: tray

  goals:
    - stereotype: on_top
      name: cube_on_tray
      extra_parameters:
        object_name: cube
        target_name: tray
        tolerance: 0.02

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