mobl_arms_beatsvr_bimanual.yaml

simulator_name: "beatsvr_neural_1e3"
project: "unity"

simulation:
  bm_model:
    cls: "MoblArmsBimanualMotor"
    kwargs:
      shoulder_variant: "none"
      #skull_rotation: [0.9961947, 0, 0, -0.0871557]
      effort_model:
        cls: "Neural"
        kwargs:
          weight: 1e-3
  task:
    cls: "UnityEnv"
    kwargs:
#      app_args: ["-right_hand_only"]
      unity_executable: "apps/beats-vr-linux/build.x86_64"
      standalone: true # set to False for debugging (open the app in Unity editor)
      # port: 5555 # uncomment for debugging (connects to this port instead of finding a random open one)
      time_scale: 5
      max_episode_length_seconds: 10
      gear: "oculus-quest-1"
      left_controller_enabled: true
      left_controller_body: "hand_l"
      left_controller_relpose: [-0.06777743, 0.02224773, 0.00873933, 0.5382897, 0.72938, -0.3715395, 0.200518]
      right_controller_body: "hand_r"
      right_controller_relpose: [-0.06694103, -0.00423279, 0.00806701, 0.79349534, 0.49238653, -0.24941408,  0.256346]
      headset_body: "skull"
      headset_relpose: [-0.10703, 0.001594, -0.19141, 0.7071068, 0.7071068, 0, 0]
  perception_modules:
    - cls: "vision.UnityHeadset"
      kwargs:
        resolution: [120, 80] # must match dimensions used in unity
        channels: [0,2]
        buffer: 0.2
        use_buffer_difference: false
    - cls: "proprioception.BasicWithEndEffectorPosition"
      kwargs:
        end_effector: [["geom", "controller-right"], ["geom", "controller-left"]]
  run_parameters:
    action_sample_freq: 20
    info_keywords: [["AccumulatedErrors", "final"], ["AccumulatedCorrectSlices", "final"]]

rl:
  algorithm: "PPO"
  policy_type: "policies.MultiInputActorCriticPolicyTanhActions"
  policy_kwargs:
    activation_fn: "torch.nn.LeakyReLU"
    net_arch: [256, 256]
    log_std_init: 0.0
    features_extractor_class: "feature_extractor.FeatureExtractor"
    normalize_images: False
  lr: 
    function: "schedule.linear_schedule"
    kwargs:
      initial_value: 5e-5
      min_value: 1e-7
      threshold: 0.8
  total_timesteps: 100_000_000
  device: "cuda"
  num_workers: 10
  nsteps: 4000
  batch_size: 1000
  target_kl: 1.0
  save_freq: 5_000_000