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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,53 @@ | ||
| { | ||
| #Environment | ||
| "env_name" :"Gym-v0", | ||
| "workspace" :"collabtable", | ||
| "engine" :"pybullet", | ||
| "render" :"opengl", | ||
| "camera" :0, | ||
| "gui" :1, | ||
| "visualize" :0, | ||
| "visgym" :0, | ||
| #Robot | ||
| "robot" :"panda", | ||
| "robot_action" :"step", | ||
| "robot_init" :[-0.4, 0.6, 0.5], | ||
| "max_velocity" :3, | ||
| "max_force" :100, | ||
| "action_repeat" :1, | ||
| #Task | ||
| "task_type" :"pnprot", | ||
| "task_objects" :[{"init":{"obj_name":"bar","fixed":0,"rand_rot":0, "sampling_area":[-0.5,0.5,0.4,0.7,0.1,0.1]}, | ||
| "goal":{"obj_name":"bar_target","fixed":1,"rand_rot":1, "sampling_area":[-0.3,0.3,0.4,0.6,0.3,0.3]}}], | ||
| "color_dict" : {"cube_holes":[[0.2,0.5,0.2,1]], "target":[[0.3,0.3,0.3,1]]}, | ||
| "used_objects" :{"num_range":[0,0], "obj_list":[]}, | ||
| // Observation | ||
| // actual_state options (pick one): "endeff_xyz", "endeff_6D" (robot end effector), "obj_xyz", "obj_6D", "vae", "yolact", "voxel" or "dope" | ||
| // goal_state options (pick one): "obj_xyz", "obj_6D", "vae", "yolact", "voxel" or "dope" | ||
| // additional_obs options (pick none/one/more): "joints_xyz", "joints_angles", "endeff_xyz", "endeff_6D", "touch", "distractor" | ||
| "observation" : {"actual_state":"obj_6D", "goal_state":"obj_6D", "additional_obs":["endeff_xyz"]}, | ||
| #Distractor | ||
| "distractors" : {"list":null, "moveable":1, "constant_speed":0, "movement_dims":3, | ||
| "movement_endpoints":[-0.3, 0.3, 0.4, 0.7, 0.1, 0.3]}, | ||
| #Reward | ||
| "reward" :"pnprot", | ||
| "distance_type" :"euclidean", | ||
| "vae_path" :null, | ||
| "yolact_path" :null, | ||
| "yolact_config" :null, | ||
| #Train | ||
| "train_framework" :"tensorflow", | ||
| "algo" :"multi", | ||
| "num_networks" :3, | ||
| "max_episode_steps" :512, | ||
| "algo_steps" :512, | ||
| "steps" :5000000, | ||
| "pretrained_model" :null, | ||
| "multiprocessing" :false, | ||
| #Evaluation | ||
| "eval_freq" :500000, | ||
| "eval_episodes" :100, | ||
| #Saving and logging | ||
| "logdir" :"trained_models/debug3rot", | ||
| "record" :0 | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,53 @@ | ||
| { | ||
| #Environment | ||
| "env_name" :"Gym-v0", | ||
| "workspace" :"table", | ||
| "engine" :"pybullet", | ||
| "render" :"opengl", | ||
| "camera" :0, | ||
| "gui" :0, | ||
| "visualize" :0, | ||
| "visgym" :0, | ||
| #Robot | ||
| "robot" :"panda", | ||
| "robot_action" :"joints", | ||
| "robot_init" :[-0.4, 0.6, 0.5], | ||
| "max_velocity" :3, | ||
| "max_force" :100, | ||
| "action_repeat" :1, | ||
| #Task | ||
| "task_type" :"pnprot", | ||
| "task_objects" :[{"init":{"obj_name":"bar","fixed":0,"rand_rot":0, "sampling_area":[-0.3,0.3,0.4,0.6,0.1,0.1]}, | ||
| "goal":{"obj_name":"bar_target","fixed":1,"rand_rot":1, "sampling_area":[-0.3,0.3,0.4,0.6,0.2,0.2]}}], | ||
| "color_dict" : {"cube_holes":[[0.2,0.5,0.2,1]], "target":[[0.3,0.3,0.3,1]]}, | ||
| "used_objects" :{"num_range":[0,0], "obj_list":[]}, | ||
| // Observation | ||
| // actual_state options (pick one): "endeff_xyz", "endeff_6D" (robot end effector), "obj_xyz", "obj_6D", "vae", "yolact", "voxel" or "dope" | ||
| // goal_state options (pick one): "obj_xyz", "obj_6D", "vae", "yolact", "voxel" or "dope" | ||
| // additional_obs options (pick none/one/more): "joints_xyz", "joints_angles", "endeff_xyz", "endeff_6D", "touch", "distractor" | ||
| "observation" : {"actual_state":"obj_6D", "goal_state":"obj_6D", "additional_obs":["endeff_xyz"]}, | ||
| #Distractor | ||
| "distractors" : {"list":null, "moveable":1, "constant_speed":0, "movement_dims":3, | ||
| "movement_endpoints":[-0.3, 0.3, 0.4, 0.7, 0.1, 0.3]}, | ||
| #Reward | ||
| "reward" :"pnprot", | ||
| "distance_type" :"euclidean", | ||
| "vae_path" :null, | ||
| "yolact_path" :null, | ||
| "yolact_config" :null, | ||
| #Train | ||
| "train_framework" :"tensorflow", | ||
| "algo" :"multi", | ||
| "num_networks" :3, | ||
| "max_episode_steps" :512, | ||
| "algo_steps" :512, | ||
| "steps" :10000000, | ||
| "pretrained_model" :null, | ||
| "multiprocessing" :false, | ||
| #Evaluation | ||
| "eval_freq" :500000, | ||
| "eval_episodes" :50, | ||
| #Saving and logging | ||
| "logdir" :"trained_models/pnr_easy", | ||
| "record" :0 | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,53 @@ | ||
| { | ||
| #Environment | ||
| "env_name" :"Gym-v0", | ||
| "workspace" :"table", | ||
| "engine" :"pybullet", | ||
| "render" :"opengl", | ||
| "camera" :0, | ||
| "gui" :0, | ||
| "visualize" :0, | ||
| "visgym" :0, | ||
| #Robot | ||
| "robot" :"panda", | ||
| "robot_action" :"joints", | ||
| "robot_init" :[-0.4, 0.6, 0.5], | ||
| "max_velocity" :3, | ||
| "max_force" :100, | ||
| "action_repeat" :1, | ||
| #Task | ||
| "task_type" :"pnprot", | ||
| "task_objects" :[{"init":{"obj_name":"bar","fixed":0,"rand_rot":0, "sampling_area":[-0.7,0.7,0.3,0.8,0.1,0.1]}, | ||
| "goal":{"obj_name":"bar_target","fixed":1,"rand_rot":1, "sampling_area":[-0.7,0.7,0.3,0.8,0.35,0.35]}}], | ||
| "color_dict" : {"cube_holes":[[0.2,0.5,0.2,1]], "target":[[0.3,0.3,0.3,1]]}, | ||
| "used_objects" :{"num_range":[0,0], "obj_list":[]}, | ||
| // Observation | ||
| // actual_state options (pick one): "endeff_xyz", "endeff_6D" (robot end effector), "obj_xyz", "obj_6D", "vae", "yolact", "voxel" or "dope" | ||
| // goal_state options (pick one): "obj_xyz", "obj_6D", "vae", "yolact", "voxel" or "dope" | ||
| // additional_obs options (pick none/one/more): "joints_xyz", "joints_angles", "endeff_xyz", "endeff_6D", "touch", "distractor" | ||
| "observation" : {"actual_state":"obj_6D", "goal_state":"obj_6D", "additional_obs":["endeff_xyz"]}, | ||
| #Distractor | ||
| "distractors" : {"list":null, "moveable":1, "constant_speed":0, "movement_dims":3, | ||
| "movement_endpoints":[-0.3, 0.3, 0.4, 0.7, 0.1, 0.3]}, | ||
| #Reward | ||
| "reward" :"pnprot", | ||
| "distance_type" :"euclidean", | ||
| "vae_path" :null, | ||
| "yolact_path" :null, | ||
| "yolact_config" :null, | ||
| #Train | ||
| "train_framework" :"tensorflow", | ||
| "algo" :"multi", | ||
| "num_networks" :3, | ||
| "max_episode_steps" :512, | ||
| "algo_steps" :512, | ||
| "steps" :10000000, | ||
| "pretrained_model" :null, | ||
| "multiprocessing" :false, | ||
| #Evaluation | ||
| "eval_freq" :500000, | ||
| "eval_episodes" :50, | ||
| #Saving and logging | ||
| "logdir" :"trained_models/pnr_hard", | ||
| "record" :0 | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,53 @@ | ||
| { | ||
| #Environment | ||
| "env_name" :"Gym-v0", | ||
| "workspace" :"table", | ||
| "engine" :"pybullet", | ||
| "render" :"opengl", | ||
| "camera" :0, | ||
| "gui" :0, | ||
| "visualize" :0, | ||
| "visgym" :0, | ||
| #Robot | ||
| "robot" :"panda", | ||
| "robot_action" :"joints", | ||
| "robot_init" :[-0.4, 0.6, 0.5], | ||
| "max_velocity" :3, | ||
| "max_force" :100, | ||
| "action_repeat" :1, | ||
| #Task | ||
| "task_type" :"pnprot", | ||
| "task_objects" :[{"init":{"obj_name":"bar","fixed":0,"rand_rot":0, "sampling_area":[-0.5,0.5,0.35,0.65,0.1,0.1]}, | ||
| "goal":{"obj_name":"bar_target","fixed":1,"rand_rot":1, "sampling_area":[-0.5,0.5,0.35,0.65,0.3,0.3]}}], | ||
| "color_dict" : {"cube_holes":[[0.2,0.5,0.2,1]], "target":[[0.3,0.3,0.3,1]]}, | ||
| "used_objects" :{"num_range":[0,0], "obj_list":[]}, | ||
| // Observation | ||
| // actual_state options (pick one): "endeff_xyz", "endeff_6D" (robot end effector), "obj_xyz", "obj_6D", "vae", "yolact", "voxel" or "dope" | ||
| // goal_state options (pick one): "obj_xyz", "obj_6D", "vae", "yolact", "voxel" or "dope" | ||
| // additional_obs options (pick none/one/more): "joints_xyz", "joints_angles", "endeff_xyz", "endeff_6D", "touch", "distractor" | ||
| "observation" : {"actual_state":"obj_6D", "goal_state":"obj_6D", "additional_obs":["endeff_xyz"]}, | ||
| #Distractor | ||
| "distractors" : {"list":null, "moveable":1, "constant_speed":0, "movement_dims":3, | ||
| "movement_endpoints":[-0.3, 0.3, 0.4, 0.7, 0.1, 0.3]}, | ||
| #Reward | ||
| "reward" :"pnprot", | ||
| "distance_type" :"euclidean", | ||
| "vae_path" :null, | ||
| "yolact_path" :null, | ||
| "yolact_config" :null, | ||
| #Train | ||
| "train_framework" :"tensorflow", | ||
| "algo" :"multi", | ||
| "num_networks" :3, | ||
| "max_episode_steps" :512, | ||
| "algo_steps" :512, | ||
| "steps" :10000000, | ||
| "pretrained_model" :null, | ||
| "multiprocessing" :false, | ||
| #Evaluation | ||
| "eval_freq" :500000, | ||
| "eval_episodes" :50, | ||
| #Saving and logging | ||
| "logdir" :"trained_models/pnr_medium", | ||
| "record" :0 | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,53 @@ | ||
| { | ||
| #Environment | ||
| "env_name" :"Gym-v0", | ||
| "workspace" :"table", | ||
| "engine" :"pybullet", | ||
| "render" :"opengl", | ||
| "camera" :0, | ||
| "gui" :0, | ||
| "visualize" :0, | ||
| "visgym" :0, | ||
| #Robot | ||
| "robot" :"kuka", | ||
| "robot_action" :"step", | ||
| "robot_init" :[-0.4, 0.6, 0.4], | ||
| "max_velocity" :3, | ||
| "max_force" :100, | ||
| "action_repeat" :1, | ||
| #Task | ||
| "task_type" :"pnp", | ||
| "task_objects" :[{"init":{"obj_name":"cube_holes","fixed":0,"rand_rot":0, "sampling_area":[-0.4,0.5,0.7,0.3,0.1,0.1]}, | ||
| "goal":{"obj_name":"cube_target","fixed":1,"rand_rot":0, "sampling_area":[-0.3,0.5,0.7,0.4,0.15,0.15]}}], | ||
| "color_dict" : {"cube_holes":[[0.2,0.5,0.2,1]], "target":[[0.3,0.3,0.3,1]]}, | ||
| "used_objects" :{"num_range":[0,0], "obj_list":[]}, | ||
| // Observation | ||
| // actual_state options (pick one): "endeff_xyz", "endeff_6D" (robot end effector), "obj_xyz", "obj_6D", "vae", "yolact", "voxel" or "dope" | ||
| // goal_state options (pick one): "obj_xyz", "obj_6D", "vae", "yolact", "voxel" or "dope" | ||
| // additional_obs options (pick none/one/more): "joints_xyz", "joints_angles", "endeff_xyz", "endeff_6D", "touch", "distractor" | ||
| "observation" : {"actual_state":"obj_xyz", "goal_state":"obj_xyz", "additional_obs":["endeff_xyz","touch"]}, | ||
| #Distractor | ||
| "distractors" : {"list":null, "moveable":1, "constant_speed":0, "movement_dims":3, | ||
| "movement_endpoints":[-0.3, 0.3, 0.4, 0.7, 0.1, 0.3]}, | ||
| #Reward | ||
| "reward" :"pnp", | ||
| "distance_type" :"euclidean", | ||
| "vae_path" :null, | ||
| "yolact_path" :null, | ||
| "yolact_config" :null, | ||
| #Train | ||
| "train_framework" :"tensorflow", | ||
| "algo" :"multi", | ||
| "num_networks" :3, | ||
| "max_episode_steps" :512, | ||
| "algo_steps" :512, | ||
| "steps" :100000, | ||
| "pretrained_model" :null, | ||
| "multiprocessing" :false, | ||
| #Evaluation | ||
| "eval_freq" :5000, | ||
| "eval_episodes" :50, | ||
| #Saving and logging | ||
| "logdir" :"trained_models/pnp3debug", | ||
| "record" :0 | ||
| } |
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