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