| cameras: | |
| static: | |
| _target_: vr_env.camera.static_camera.StaticCamera | |
| name: static | |
| fov: 10 | |
| aspect: 1 | |
| nearval: 0.01 | |
| farval: 10 | |
| width: 200 | |
| height: 200 | |
| look_at: | |
| - -0.026242351159453392 | |
| - -0.0302329882979393 | |
| - 0.3920000493526459 | |
| look_from: | |
| - 2.871459009488717 | |
| - -2.166602199425597 | |
| - 2.555159848480571 | |
| up_vector: | |
| - 0.4041403970338857 | |
| - 0.22629790978217404 | |
| - 0.8862616969685161 | |
| gripper: | |
| _target_: vr_env.camera.gripper_camera.GripperCamera | |
| name: gripper | |
| fov: 75 | |
| aspect: 1 | |
| nearval: 0.01 | |
| farval: 2 | |
| width: 84 | |
| height: 84 | |
| tactile: | |
| _target_: vr_env.camera.tactile_sensor.TactileSensor | |
| name: tactile | |
| width: 120 | |
| height: 160 | |
| digit_link_ids: | |
| - 10 | |
| - 12 | |
| visualize_gui: false | |
| config_path: conf/digit_sensor/config_digit.yml | |
| load_dir: /work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/ | |
| data_path: data | |
| save_dir: ??? | |
| show_gui: false | |
| processes: 16 | |
| max_episode_frames: 1 | |
| save_body_infos: true | |
| set_static_cam: false | |
| env: | |
| cameras: ${cameras} | |
| show_gui: ${show_gui} | |
| use_vr: false | |
| scene: | |
| _target_: vr_env.scene.play_table_scene.PlayTableScene | |
| _recursive_: false | |
| name: calvin_scene_A | |
| data_path: ${data_path} | |
| global_scaling: 0.8 | |
| euler_obs: ${robot.euler_obs} | |
| robot_base_position: | |
| - -0.34 | |
| - -0.46 | |
| - 0.24 | |
| robot_base_orientation: | |
| - 0 | |
| - 0 | |
| - 0 | |
| robot_initial_joint_positions: | |
| - -1.21779206 | |
| - 1.03987646 | |
| - 2.11978261 | |
| - -2.34205014 | |
| - -0.87015947 | |
| - 1.64119353 | |
| - 0.55344866 | |
| surfaces: | |
| table: | |
| - - 0.0 | |
| - -0.15 | |
| - 0.46 | |
| - - 0.35 | |
| - -0.03 | |
| - 0.46 | |
| slider_left: | |
| - - -0.32 | |
| - 0.05 | |
| - 0.46 | |
| - - -0.16 | |
| - 0.12 | |
| - 0.46 | |
| slider_right: | |
| - - -0.05 | |
| - 0.05 | |
| - 0.46 | |
| - - 0.13 | |
| - 0.12 | |
| - 0.46 | |
| objects: | |
| fixed_objects: | |
| table: | |
| file: calvin_table_A/urdf/calvin_table_A.urdf | |
| initial_pos: | |
| - 0 | |
| - 0 | |
| - 0 | |
| initial_orn: | |
| - 0 | |
| - 0 | |
| - 0 | |
| joints: | |
| base__slide: | |
| initial_state: 0 | |
| base__drawer: | |
| initial_state: 0 | |
| buttons: | |
| base__button: | |
| initial_state: 0 | |
| effect: led | |
| switches: | |
| base__switch: | |
| initial_state: 0 | |
| effect: lightbulb | |
| lights: | |
| lightbulb: | |
| link: light_link | |
| color: | |
| - 1 | |
| - 1 | |
| - 0 | |
| - 1 | |
| led: | |
| link: led_link | |
| color: | |
| - 0 | |
| - 1 | |
| - 0 | |
| - 1 | |
| movable_objects: | |
| block_red: | |
| file: blocks/block_red_middle.urdf | |
| initial_pos: any | |
| initial_orn: any | |
| block_blue: | |
| file: blocks/block_blue_small.urdf | |
| initial_pos: any | |
| initial_orn: any | |
| block_pink: | |
| file: blocks/block_pink_big.urdf | |
| initial_pos: any | |
| initial_orn: any | |