MyoHand/PenTwirl/myoHandPenTwirlRandom-v0.yaml
| 1 | env_id: myoHandPenTwirlRandom-v0 |
| 2 | seed: 0 |
| 3 | |
| 4 | total_timesteps: 5_000_000 |
| 5 | eval_freq: 50_000 |
| 6 | save_freq: 625_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: 50 |
| 16 | |
| 17 | task_variables_keys: |
| 18 | - obj_des_rot |
| 19 | - obj_err_pos |
| 20 | - obj_err_rot |
| 21 | |
| 22 | camera: |
| 23 | fps: 25 |
| 24 | type: free # 'free' or 'tracking' |
| 25 | tracked_body: r_humerus # used if tracking |
| 26 | lookat: [-0.220, -0.47, 1.440] # used if free |
| 27 | distance: 0.6 |
| 28 | azimuth: 90 |
| 29 | elevation: -45 |
| 30 | |
| 31 | render: |
| 32 | target_pos: [-0.400, -0.470, 1.46] |
| 33 | target_ball_alpha: 0.1 |