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mobl_arms_beatsvr_bimanual.yaml
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mobl_arms_beatsvr_bimanual.yaml
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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