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yzy
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{
    "name": "square",
    "type": "robosuite",
    "experiment": {
        "name": "demo_src_square_task_D0",
        "source": {
            "dataset_path": "/home/tiger/mg_ws/mimicgen/mimicgen/../datasets/source/square.hdf5",
            "filter_key": null,
            "n": 10,
            "start": null
        },
        "generation": {
            "path": "/tmp/core_datasets/square",
            "guarantee": true,
            "keep_failed": true,
            "num_trials": 300,
            "select_src_per_subtask": false,
            "transform_first_robot_pose": false,
            "interpolate_from_last_target_pose": true
        },
        "task": {
            "name": "Square_D0",
            "robot": null,
            "gripper": null,
            "env_meta_update_kwargs": {},
            "interface": null,
            "interface_type": null
        },
        "max_num_failures": 25,
        "render_video": true,
        "num_demo_to_render": 10,
        "num_fail_demo_to_render": 25,
        "log_every_n_attempts": 50,
        "seed": 1
    },
    "obs": {
        "collect_obs": true,
        "camera_names": [
            "agentview",
            "robot0_eye_in_hand"
        ],
        "camera_height": 256,
        "camera_width": 256
    },
    "task": {
        "task_spec": {
            "subtask_1": {
                "object_ref": "square_nut",
                "subtask_term_signal": "grasp",
                "subtask_term_offset_range": [
                    10,
                    20
                ],
                "selection_strategy": "nearest_neighbor_object",
                "selection_strategy_kwargs": {
                    "nn_k": 3
                },
                "action_noise": 0.05,
                "num_interpolation_steps": 5,
                "num_fixed_steps": 0,
                "apply_noise_during_interpolation": false
            },
            "subtask_2": {
                "object_ref": "square_peg",
                "subtask_term_signal": null,
                "subtask_term_offset_range": null,
                "selection_strategy": "nearest_neighbor_object",
                "selection_strategy_kwargs": {
                    "nn_k": 3
                },
                "action_noise": 0.05,
                "num_interpolation_steps": 5,
                "num_fixed_steps": 0,
                "apply_noise_during_interpolation": false
            }
        }
    }
}