{
  "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"
  }
}