31 lines
801 B
YAML
31 lines
801 B
YAML
# @package _global_
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fps: 30
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env:
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name: real_world
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task: null
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state_dim: 6
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action_dim: 6
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fps: ${fps}
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device: mps
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wrapper:
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crop_params_dict:
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observation.images.front: [126, 43, 329, 518]
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observation.images.side: [93, 69, 381, 434]
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# observation.images.front: [135, 59, 331, 527]
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# observation.images.side: [79, 47, 397, 450]
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resize_size: [128, 128]
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control_time_s: 20
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reset_follower_pos: true
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use_relative_joint_positions: true
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reset_time_s: 5
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display_cameras: false
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delta_action: 0.1
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joint_masking_action_space: [1, 1, 1, 1, 0, 0] # disable wrist and gripper
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reward_classifier:
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pretrained_path: outputs/classifier/checkpoints/best/pretrained_model
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config_path: lerobot/configs/policy/hilserl_classifier.yaml
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