Create sim_il/env_config.json
Browse files- sim_il/env_config.json +69 -0
sim_il/env_config.json
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{
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"env": {
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"name": "gym_hil",
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"task": "PandaPickCubeKeyboard-v0",
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"fps": 10,
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"robot": null,
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"teleop": null,
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"processor": {
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"control_mode": "gamepad",
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"observation": {
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"add_joint_velocity_to_observation": true,
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"add_ee_pose_to_observation": true,
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"display_cameras": false
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},
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"image_preprocessing": {
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"crop_params_dict": {
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"observation.images.front": [
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0,
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0,
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128,
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128
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],
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"observation.images.wrist": [
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0,
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0,
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128,
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128
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]
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},
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"resize_size": [
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128,
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128
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]
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},
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"gripper": {
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"use_gripper": true,
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"gripper_penalty": -0.02,
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"gripper_penalty_in_reward": false
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},
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"reset": {
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"fixed_reset_joint_positions": [
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0.0,
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0.195,
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0.0,
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-2.43,
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0.0,
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2.62,
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0.785
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],
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"reset_time_s": 2.0,
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"control_time_s": 15.0,
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"terminate_on_success": true
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},
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"reward_classifier": {
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"pretrained_path": null
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}
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}
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},
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"dataset": {
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"repo_id": "pepijn223/il_gym0",
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"root": null,
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"task": "PandaPickCubeKeyboard-v0",
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"num_episodes_to_record": 30,
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"replay_episode": 0,
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"push_to_hub": true
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},
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"mode": null,
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"device": "cuda"
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}
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