| { |
| "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" |
| } |
| } |
|
|
