MyoHand/DieReorient/CustomMyoChallengeDieReorientP2-v0.yaml
| 1 | env_id: CustomMyoChallengeDieReorientP2-v0 |
| 2 | seed: 0 |
| 3 | |
| 4 | total_timesteps: 10_000_000 |
| 5 | eval_freq: 100_000 |
| 6 | save_freq: 1_250_000 |
| 7 | |
| 8 | reward_type: dense |
| 9 | norm_obs: True |
| 10 | norm_reward: False |
| 11 | clip_obs: 10.0 |
| 12 | |
| 13 | env_kwargs: |
| 14 | seed: ${env.seed} |
| 15 | max_episode_steps: 150 |
| 16 | weighted_reward_keys: |
| 17 | pos_dist: 1. # 2 |
| 18 | rot_dist: 0.2 |
| 19 | pos_dist_diff: 1e2 |
| 20 | rot_dist_diff: 1e1 |
| 21 | alive: 1 |
| 22 | act_reg: 0 |
| 23 | solved: 2 |
| 24 | done: 0 |
| 25 | sparse: 0 |
| 26 | |
| 27 | goal_pos: [-0.0, 0.0] |
| 28 | goal_rot: [-0.785, 0.785] # -3.14*0.25, 3.14*0.25 |
| 29 | obj_size_change: 0 |
| 30 | obj_friction_change: [0, 0, 0] |
| 31 | enable_rsi: false |
| 32 | rsi_distance_pos: null |
| 33 | rsi_distance_rot: null |
| 34 | goal_rot_x: null |
| 35 | goal_rot_y: null |
| 36 | goal_rot_z: null |
| 37 | guided_trajectory_steps: 0 |
| 38 | |
| 39 | task_variables_keys: |
| 40 | - goal_pos |
| 41 | - pos_err |
| 42 | - goal_rot |
| 43 | - rot_err |
| 44 | |
| 45 | camera: |
| 46 | fps: 25 |
| 47 | type: free # 'free' or 'tracking' |
| 48 | tracked_body: r_humerus # used if tracking |
| 49 | lookat: [-0.220, -0.47, 1.440] # used if free |
| 50 | distance: 0.6 |
| 51 | azimuth: 90 |
| 52 | elevation: -45 |
| 53 | |
| 54 | render: |
| 55 | target_x_offset: -0.06 |
| 56 | target_y_offset: 0.065 |
| 57 | target_ball_alpha: 0.1 |