File size: 1,641 Bytes
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"project_name": "wam-0.1",
"robot": "Panda",
"simulator": "robosuite",
"controller": {
"robosuite_controller": "OSC_POSE",
"action_dim": 7,
"action_layout": [
"dx",
"dy",
"dz",
"d_rx_axis_angle",
"d_ry_axis_angle",
"d_rz_axis_angle",
"gripper"
],
"action_low": -1.0,
"action_high": 1.0
},
"capture": {
"image_width": 128,
"image_height": 128,
"cameras": ["agentview", "frontview", "birdview"],
"store_rgb": true,
"store_depth": true,
"store_robot_state": true,
"depth_format": "float32_npy"
},
"levels": {
"level_0": "input + action -> observation",
"level_1": "input + action chunk -> future subgoal",
"level_1_chunk_length": 8
},
"pilot": {
"tasks_source": "configs/tasks.json",
"episodes_per_task": 3,
"modes": ["normal", "random"],
"total_episodes": 60,
"randomization": true,
"fixed_cameras": false,
"distractors": false,
"physics_randomization": false
},
"variation": {
"task_seed_controls_official_scene_sampling": true,
"camera_position_jitter_m": 0.015,
"camera_angle_jitter_deg": 2.0,
"object_logic_override": false,
"lighting_override": false,
"distractors": false
},
"scale": {
"target_physical_transitions": 400000,
"target_stored_rgbd_frames": 2400000,
"storage_budget_gb": 300,
"frame_count_definition": "3 cameras x input and observation per transition"
},
"paths": {
"controller_test": "data/controller_test",
"final_data": "data/final",
"manifests": "data/manifests",
"reports": "reports"
}
}
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