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 Fields4

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

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	`5.0`	Timeout in seconds for waiting for the robot to stop
`extra_parameters`	dict	optional	`{}`	Extra parameters for the specific stereotype, interpreted by the subclass (e.g. object_name, target_name)

classVisualizationConfigfastsim/extensions/common/action/action.py

Field	Type	Required	Default	Description / Constraints
`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 bounding box
`ee_pose_type`	enum	optional	`coordinate`	End-effector pose visualization style ⚠coordinate / axis

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

Field	Type	Required	Default	Description / Constraints
`target_name`	string	optional	—	Target object name (movement reference)
`pose_source`	enum	required	`inline`	Pose source ⚠inline / goal / object
`pose_data`	dict \| string	required	`{}`	Pose data; format depends on pose_source
`pose_frame`	enum	required	`world`	Pose reference frame ⚠world / robot_base
`wait_target_stopped_timeout`	float	required	`3.0`	Timeout for waiting for target to stop (seconds) ⚠> 0
`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

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

Field	Type	Required	Default	Description / Constraints
`ee_timeout`	float	required	`6.0`	End-effector action timeout (seconds) ⚠> 0
`ee_type`	enum	required	`gripper`	End-effector type ⚠gripper

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
`ee_type`	enum	required	`gripper`	End-effector type ⚠gripper
`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

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

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

Field	Type	Required	Default	Description / Constraints
`planner_attach_offset_position`	list[3]	required	`[0, 0, 0.01]`	Planner attach offset position [x, y, z] in meters
`planner_attach_offset_rotation`	list[4]	required	`[1, 0, 0, 0]`	Planner attach offset rotation (quaternion)
`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 ⚠world / robot_base
`wait_post_acquire_timeout`	float	required	`6.0`	Post-acquire wait timeout (seconds)

Inherited fromGraspActionConfig2

Field	Type	Required	Default	Description / Constraints
`ee_timeout`	float	required	`6.0`	End-effector action timeout
`ee_type`	enum	required	`gripper`	End-effector type

Inherited fromMoveActionConfig7

Field	Type	Required	Default	Description / Constraints
`target_name`	string	optional	—	Target object name
`pose_source`	enum	required	`inline`	Pose source
`pose_data`	dict \| string	required	`{}`	Pose data
`pose_frame`	enum	required	`world`	Pose reference frame
`wait_target_stopped_timeout`	float	required	`3.0`	Wait target stopped timeout
`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

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

Field	Type	Required	Default	Description / Constraints
`grasped_target_name`	string	optional	—	Grasped target object name
`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
`ee_type`	enum	required	`gripper`	End-effector type
`release_timeout`	float	required	`6.0`	Release timeout
`wait_ee_open`	bool	required	`true`	Wait for EE to fully open

Inherited fromMoveActionConfig7

Field	Type	Required	Default	Description / Constraints
`target_name`	string	optional	—	Target object name
`pose_source`	enum	required	`inline`	Pose source
`pose_data`	dict \| string	required	`{}`	Pose data
`pose_frame`	enum	required	`world`	Pose reference frame
`wait_target_stopped_timeout`	float	required	`3.0`	Wait target stopped timeout
`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

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 fromAcquireActionConfig6

Field	Type	Required	Default	Description / Constraints
`planner_attach_offset_position`	list[3]	required	`[0, 0, 0.01]`	Planner attach offset position
`planner_attach_offset_rotation`	list[4]	required	`[1, 0, 0, 0]`	Planner attach offset rotation
`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
`ee_type`	enum	required	`gripper`	EE type

Inherited fromMoveActionConfig6

Field	Type	Required	Default	Description / Constraints
`target_name`	string	optional	—	Target object name
`pose_source`	enum	required	`inline`	Pose source
`pose_data`	dict \| string	required	`{}`	Pose data
`pose_frame`	enum	required	`world`	Pose reference frame
`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
`ee_type`	enum	required	`gripper`	EE type

Inherited fromMoveActionConfig6

Field	Type	Required	Default	Description / Constraints
`target_name`	string	optional	—	Target object name
`pose_source`	enum	required	`inline`	Pose source
`pose_data`	dict \| string	required	`{}`	Pose data
`pose_frame`	enum	required	`world`	Pose reference frame
`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

Inherited fromAcquireActionConfig6

Field	Type	Required	Default	Description / Constraints
`planner_attach_offset_position`	list[3]	required	`[0, 0, 0.01]`	Planner attach offset position
`planner_attach_offset_rotation`	list[4]	required	`[1, 0, 0, 0]`	Planner attach offset rotation
`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
`ee_type`	enum	required	`gripper`	EE type

Inherited fromMoveActionConfig6

Field	Type	Required	Default	Description / Constraints
`target_name`	string	optional	—	Target object name
`pose_source`	enum	required	`inline`	Pose source
`pose_data`	dict \| string	required	`{}`	Pose data
`pose_frame`	enum	required	`world`	Pose reference frame
`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

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 fromAcquireActionConfig6

Field	Type	Required	Default	Description / Constraints
`planner_attach_offset_position`	list[3]	required	`[0, 0, 0.01]`	Planner attach offset position
`planner_attach_offset_rotation`	list[4]	required	`[1, 0, 0, 0]`	Planner attach offset rotation
`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
`ee_type`	enum	required	`gripper`	EE type

Inherited fromMoveActionConfig6

Field	Type	Required	Default	Description / Constraints
`target_name`	string	optional	—	Target object name
`pose_source`	enum	required	`inline`	Pose source
`pose_data`	dict \| string	required	`{}`	Pose data
`pose_frame`	enum	required	`world`	Pose frame
`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
`ee_type`	enum	required	`gripper`	EE type

Inherited fromMoveActionConfig6

Field	Type	Required	Default	Description / Constraints
`target_name`	string	optional	—	Target object name
`pose_source`	enum	required	`inline`	Pose source
`pose_data`	dict \| string	required	`{}`	Pose data
`pose_frame`	enum	required	`world`	Pose frame
`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
`ee_type`	enum	required	`gripper`	EE type
`release_timeout`	float	required	`6.0`	Release timeout
`wait_ee_open`	bool	required	`true`	Wait for EE open

Inherited fromMoveActionConfig6

Field	Type	Required	Default	Description / Constraints
`target_name`	string	optional	—	Target object name
`pose_source`	enum	required	`inline`	Pose source
`pose_data`	dict \| string	required	`{}`	Pose data
`pose_frame`	enum	required	`world`	Pose frame
`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 (e.g. pose / on_top / inside / grasp_success)
`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 / spawnable
`pose_A_params`	dict	required	`{}`	Pose A parameters
`pose_B_source`	enum	required	`spawnable`	Pose B source ⚠ee / spawnable
`pose_B_params`	dict	required	`{}`	Pose B parameters

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

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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