| { | |
| "env": "SO101PickCube", | |
| "playground": "1.0.1", | |
| "control_dt": 0.019999999552965164, | |
| "physics_dt": 0.005, | |
| "observations": [ | |
| { | |
| "name": "joint_pos", | |
| "shape": [ | |
| 6 | |
| ] | |
| }, | |
| { | |
| "name": "joint_vel", | |
| "shape": [ | |
| 6 | |
| ] | |
| }, | |
| { | |
| "name": "ee_to_object", | |
| "shape": [ | |
| 3 | |
| ] | |
| }, | |
| { | |
| "name": "object_to_goal", | |
| "shape": [ | |
| 3 | |
| ] | |
| }, | |
| { | |
| "name": "last_action", | |
| "shape": [ | |
| 6 | |
| ] | |
| } | |
| ], | |
| "joints": [ | |
| "robot/shoulder_pan", | |
| "robot/shoulder_lift", | |
| "robot/elbow_flex", | |
| "robot/wrist_flex", | |
| "robot/wrist_roll", | |
| "robot/gripper" | |
| ], | |
| "home_qpos": [ | |
| -0.192, | |
| -0.262, | |
| 0.253, | |
| 1.13, | |
| 0.0793, | |
| 0.8 | |
| ], | |
| "action": { | |
| "ctrl": "scale * action + offset", | |
| "scale": [ | |
| 0.14622027301605472, | |
| 0.13877058784032037, | |
| 0.15077808253314556, | |
| 0.16475919964313931, | |
| 0.16843584397174813, | |
| 0.32941453534081816 | |
| ], | |
| "offset": [ | |
| -0.192, | |
| -0.262, | |
| 0.253, | |
| 1.13, | |
| 0.0793, | |
| 0.8 | |
| ] | |
| }, | |
| "ee_site": "robot/gripperframe", | |
| "object_body": "cube/cube", | |
| "target_body": "target/target", | |
| "reset": { | |
| "object_pos_range": [ | |
| [ | |
| 0.2, | |
| 0.35 | |
| ], | |
| [ | |
| -0.1, | |
| 0.1 | |
| ], | |
| [ | |
| 0.018, | |
| 0.018 | |
| ] | |
| ], | |
| "target_pos_range": [ | |
| [ | |
| 0.2, | |
| 0.3 | |
| ], | |
| [ | |
| -0.1, | |
| 0.1 | |
| ], | |
| [ | |
| 0.08, | |
| 0.2 | |
| ] | |
| ], | |
| "resampling_time_range": [ | |
| 4.0, | |
| 7.0 | |
| ], | |
| "joint_perturbation": 0.1 | |
| }, | |
| "model": { | |
| "qpos_joints": [ | |
| "cube/cube_freejoint", | |
| "robot/shoulder_pan", | |
| "robot/shoulder_lift", | |
| "robot/elbow_flex", | |
| "robot/wrist_flex", | |
| "robot/wrist_roll", | |
| "robot/gripper" | |
| ], | |
| "jnt_qposadr": [ | |
| 0, | |
| 7, | |
| 8, | |
| 9, | |
| 10, | |
| 11, | |
| 12 | |
| ], | |
| "jnt_dofadr": [ | |
| 0, | |
| 6, | |
| 7, | |
| 8, | |
| 9, | |
| 10, | |
| 11 | |
| ], | |
| "actuators": [ | |
| "robot/shoulder_pan", | |
| "robot/shoulder_lift", | |
| "robot/elbow_flex", | |
| "robot/wrist_flex", | |
| "robot/wrist_roll", | |
| "robot/gripper" | |
| ], | |
| "mocap_bodies": [ | |
| "target/target" | |
| ] | |
| }, | |
| "checkpoint": "model_999.pt", | |
| "obs_size": 24, | |
| "reference_steps": 600, | |
| "onnx_vs_torch_max_abs": 5.7220458984375e-06 | |
| } | |