| { | |
| "manipulation_max_steps": { | |
| "reach_plate": 3000, | |
| "reach_item": 3000, | |
| "reach_hardback_from_bookcase": 3000, | |
| "reach_food_item": 3000, | |
| "place_carving_knife": 3000, | |
| "reach_tool": 3700, | |
| "reach_pizza_plate": 4500, | |
| "reach_paperback_book": 4500, | |
| "reach_dice": 4500, | |
| "reach_toys": 5000, | |
| "place_bowl_in_cabinet": 7000, | |
| "place_tupperware_in_fridge": 7000, | |
| "reach_storage_box": 7000, | |
| "reach_soda_can": 7000 | |
| }, | |
| "navigation": "per-instance config max_steps", | |
| "control_rate_hz": 30 | |
| } |