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