51 lines
1.6 KiB
YAML
51 lines
1.6 KiB
YAML
# @package _global_
|
|
|
|
fps: 10
|
|
|
|
env:
|
|
name: real_world
|
|
task: null
|
|
state_dim: 15
|
|
action_dim: 3
|
|
fps: ${fps}
|
|
device: mps
|
|
|
|
wrapper:
|
|
crop_params_dict:
|
|
observation.images.front: [171, 207, 116, 251]
|
|
observation.images.side: [232, 200, 142, 204]
|
|
resize_size: [128, 128]
|
|
control_time_s: 10
|
|
reset_follower_pos: false
|
|
use_relative_joint_positions: true
|
|
reset_time_s: 5
|
|
display_cameras: false
|
|
delta_action: null #0.3
|
|
joint_masking_action_space: null #[1, 1, 1, 1, 0, 0] # disable wrist and gripper
|
|
add_joint_velocity_to_observation: true
|
|
add_ee_pose_to_observation: true
|
|
|
|
# If null then the teleoperation will be used to reset the robot
|
|
# Bounds for pushcube_gamepad_lerobot15 dataset and experiments
|
|
# fixed_reset_joint_positions: [-19.86, 103.19, 117.33, 42.7, 13.89, 0.297]
|
|
# ee_action_space_params: # If null then ee_action_space is not used
|
|
# bounds:
|
|
# max: [0.291, 0.147, 0.074]
|
|
# min: [0.139, -0.143, 0.03]
|
|
|
|
# Bounds for insertcube_gamepad dataset and experiments
|
|
fixed_reset_joint_positions: [20.0, 90., 90., 75., -0.7910156, -0.5673759]
|
|
ee_action_space_params:
|
|
bounds:
|
|
max: [0.25295413, 0.07498981, 0.06862044]
|
|
min: [0.2010096, -0.12, 0.0433196]
|
|
|
|
use_gamepad: true
|
|
x_step_size: 0.03
|
|
y_step_size: 0.03
|
|
z_step_size: 0.03
|
|
|
|
reward_classifier:
|
|
pretrained_path: null # outputs/classifier/13-02-random-sample-resnet10-frozen/checkpoints/best/pretrained_model
|
|
config_path: null # lerobot/configs/policy/hilserl_classifier.yaml
|