robobase-org · robobase0907 · Aug 5, 2024 · Jul 16, 2024 · Jul 17, 2024 · Jul 17, 2024
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -31,4 +31,4 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Fixed
 
-- None.
+- None.
diff --git a/robobase/cfgs/env/bigym.yaml b/robobase/cfgs/env/bigym.yaml
@@ -2,8 +2,13 @@
 
 env:
   env_name: bigym
-  episode_length: 1000
+  episode_length: 3000
   cameras: ["head", "right_wrist", "left_wrist"]
-  action_mode: JOINT_POSITION
+  action_mode: absolute
+  floating: true
+  dataset_root: ""
+  demo_down_sample_rate: 20
+  render_mode: rgb_array
+  enable_all_floating_dof: false
 
-action_repeat: 2
+demos: !!float .inf
diff --git a/robobase/cfgs/env/bigym/cupboards_close_all.yaml b/robobase/cfgs/env/bigym/cupboards_close_all.yaml
@@ -0,0 +1,12 @@
+# @package _global_
+
+defaults:
+  - bigym
+  - _self_
+
+env:
+  task_name: cupboards_close_all
+  stddev_schedule: linear(1.0,0.1,500000)
+  episode_length: 15500
+  demo_down_sample_rate: 25
+  enable_all_floating_dof: true
diff --git a/robobase/cfgs/env/bigym/cupboards_open_all.yaml b/robobase/cfgs/env/bigym/cupboards_open_all.yaml
@@ -0,0 +1,12 @@
+# @package _global_
+
+defaults:
+  - bigym
+  - _self_
+
+env:
+  task_name: cupboards_open_all
+  stddev_schedule: linear(1.0,0.1,500000)
+  episode_length: 22500
+  demo_down_sample_rate: 25
+  enable_all_floating_dof: true
diff --git a/robobase/cfgs/env/bigym/dishwasher_close.yaml b/robobase/cfgs/env/bigym/dishwasher_close.yaml
@@ -0,0 +1,12 @@
+# @package _global_
+
+defaults:
+  - bigym
+  - _self_
+
+env:
+  task_name: dishwasher_close
+  stddev_schedule: linear(1.0,0.1,500000)
+  episode_length: 7500
+  demo_down_sample_rate: 20
+  enable_all_floating_dof: true
diff --git a/robobase/cfgs/env/bigym/dishwasher_close_trays.yaml b/robobase/cfgs/env/bigym/dishwasher_close_trays.yaml
@@ -0,0 +1,12 @@
+# @package _global_
+
+defaults:
+  - bigym
+  - _self_
+
+env:
+  task_name: dishwasher_close_trays
+  stddev_schedule: linear(1.0,0.1,500000)
+  episode_length: 3000
+  demo_down_sample_rate: 25
+  enable_all_floating_dof: true
diff --git a/robobase/cfgs/env/bigym/dishwasher_load_cups.yaml b/robobase/cfgs/env/bigym/dishwasher_load_cups.yaml
@@ -0,0 +1,12 @@
+# @package _global_
+
+defaults:
+  - bigym
+  - _self_
+
+env:
+  task_name: dishwasher_load_cups
+  stddev_schedule: linear(1.0,0.1,500000)
+  episode_length: 7500
+  demo_down_sample_rate: 10
+  enable_all_floating_dof: true
diff --git a/robobase/cfgs/env/bigym/dishwasher_load_cutlery.yaml b/robobase/cfgs/env/bigym/dishwasher_load_cutlery.yaml
@@ -0,0 +1,12 @@
+# @package _global_
+
+defaults:
+  - bigym
+  - _self_
+
+env:
+  task_name: dishwasher_load_cutlery
+  stddev_schedule: linear(1.0,0.1,500000)
+  episode_length: 7000
+  demo_down_sample_rate: 10
+  enable_all_floating_dof: true
diff --git a/robobase/cfgs/env/bigym/dishwasher_load_plates.yaml b/robobase/cfgs/env/bigym/dishwasher_load_plates.yaml
@@ -0,0 +1,12 @@
+# @package _global_
+
+defaults:
+  - bigym
+  - _self_
+
+env:
+  task_name: dishwasher_load_plates
+  stddev_schedule: linear(1.0,0.1,500000)
+  episode_length: 14000
+  demo_down_sample_rate: 25
+  enable_all_floating_dof: true
diff --git a/robobase/cfgs/env/bigym/dishwasher_open.yaml b/robobase/cfgs/env/bigym/dishwasher_open.yaml
@@ -0,0 +1,12 @@
+# @package _global_
+
+defaults:
+  - bigym
+  - _self_
+
+env:
+  task_name: dishwasher_open
+  stddev_schedule: linear(1.0,0.1,500000)
+  episode_length: 7500
+  demo_down_sample_rate: 20
+  enable_all_floating_dof: true
diff --git a/robobase/cfgs/env/bigym/dishwasher_open_trays.yaml b/robobase/cfgs/env/bigym/dishwasher_open_trays.yaml
@@ -0,0 +1,12 @@
+# @package _global_
+
+defaults:
+  - bigym
+  - _self_
+
+env:
+  task_name: dishwasher_open_trays
+  stddev_schedule: linear(1.0,0.1,500000)
+  episode_length: 3000
+  demo_down_sample_rate: 25
+  enable_all_floating_dof: true
diff --git a/robobase/cfgs/env/bigym/dishwasher_unload_cups.yaml b/robobase/cfgs/env/bigym/dishwasher_unload_cups.yaml
@@ -0,0 +1,12 @@
+# @package _global_
+
+defaults:
+  - bigym
+  - _self_
+
+env:
+  task_name: dishwasher_unload_cups
+  stddev_schedule: linear(1.0,0.1,500000)
+  episode_length: 10000
+  demo_down_sample_rate: 25
+  enable_all_floating_dof: true
diff --git a/robobase/cfgs/env/bigym/dishwasher_unload_cups_long.yaml b/robobase/cfgs/env/bigym/dishwasher_unload_cups_long.yaml
@@ -0,0 +1,12 @@
+# @package _global_
+
+defaults:
+  - bigym
+  - _self_
+
+env:
+  task_name: dishwasher_unload_cups_long
+  stddev_schedule: linear(1.0,0.1,500000)
+  episode_length: 18000
+  demo_down_sample_rate: 25
+  enable_all_floating_dof: true
diff --git a/robobase/cfgs/env/bigym/dishwasher_unload_cutlery.yaml b/robobase/cfgs/env/bigym/dishwasher_unload_cutlery.yaml
@@ -0,0 +1,12 @@
+# @package _global_
+
+defaults:
+  - bigym
+  - _self_
+
+env:
+  task_name: dishwasher_unload_cutlery
+  stddev_schedule: linear(1.0,0.1,500000)
+  episode_length: 15500
+  demo_down_sample_rate: 25
+  enable_all_floating_dof: true
diff --git a/robobase/cfgs/env/bigym/dishwasher_unload_cutlery_long.yaml b/robobase/cfgs/env/bigym/dishwasher_unload_cutlery_long.yaml
@@ -0,0 +1,12 @@
+# @package _global_
+
+defaults:
+  - bigym
+  - _self_
+
+env:
+  task_name: dishwasher_unload_cutlery_long
+  stddev_schedule: linear(1.0,0.1,500000)
+  episode_length: 18000
+  demo_down_sample_rate: 25
+  enable_all_floating_dof: true
diff --git a/robobase/cfgs/env/bigym/dishwasher_unload_plates.yaml b/robobase/cfgs/env/bigym/dishwasher_unload_plates.yaml
@@ -0,0 +1,12 @@
+# @package _global_
+
+defaults:
+  - bigym
+  - _self_
+
+env:
+  task_name: dishwasher_unload_plates
+  stddev_schedule: linear(1.0,0.1,500000)
+  episode_length: 20000
+  demo_down_sample_rate: 25
+  enable_all_floating_dof: true
diff --git a/robobase/cfgs/env/bigym/dishwasher_unload_plates_long.yaml b/robobase/cfgs/env/bigym/dishwasher_unload_plates_long.yaml
@@ -0,0 +1,12 @@
+# @package _global_
+
+defaults:
+  - bigym
+  - _self_
+
+env:
+  task_name: dishwasher_unload_plates_long
+  stddev_schedule: linear(1.0,0.1,500000)
+  episode_length: 26000
+  demo_down_sample_rate: 25
+  enable_all_floating_dof: true
diff --git a/robobase/cfgs/env/bigym/drawer_top_close.yaml b/robobase/cfgs/env/bigym/drawer_top_close.yaml
@@ -0,0 +1,12 @@
+# @package _global_
+
+defaults:
+  - bigym
+  - _self_
+
+env:
+  task_name: drawer_top_close
+  stddev_schedule: linear(1.0,0.1,500000)
+  episode_length: 3000
+  demo_down_sample_rate: 10
+  enable_all_floating_dof: true
diff --git a/robobase/cfgs/env/bigym/drawer_top_open.yaml b/robobase/cfgs/env/bigym/drawer_top_open.yaml
@@ -0,0 +1,12 @@
+# @package _global_
+
+defaults:
+  - bigym
+  - _self_
+
+env:
+  task_name: drawer_top_open
+  stddev_schedule: linear(1.0,0.1,500000)
+  episode_length: 5000
+  demo_down_sample_rate: 10
+  enable_all_floating_dof: true
diff --git a/robobase/cfgs/env/bigym/drawers_close_all.yaml b/robobase/cfgs/env/bigym/drawers_close_all.yaml
@@ -0,0 +1,12 @@
+# @package _global_
+
+defaults:
+  - bigym
+  - _self_
+
+env:
+  task_name: drawers_close_all
+  stddev_schedule: linear(1.0,0.1,500000)
+  episode_length: 5000
+  demo_down_sample_rate: 25
+  enable_all_floating_dof: true
diff --git a/robobase/cfgs/env/bigym/drawers_open_all.yaml b/robobase/cfgs/env/bigym/drawers_open_all.yaml
@@ -0,0 +1,12 @@
+# @package _global_
+
+defaults:
+  - bigym
+  - _self_
+
+env:
+  task_name: drawers_open_all
+  stddev_schedule: linear(1.0,0.1,500000)
+  episode_length: 12000
+  demo_down_sample_rate: 25
+  enable_all_floating_dof: true
diff --git a/robobase/cfgs/env/bigym/flip_cup.yaml b/robobase/cfgs/env/bigym/flip_cup.yaml
@@ -0,0 +1,12 @@
+# @package _global_
+
+defaults:
+  - bigym
+  - _self_
+
+env:
+  task_name: flip_cup
+  stddev_schedule: linear(1.0,0.1,500000)
+  episode_length: 5500
+  demo_down_sample_rate: 10
+  enable_all_floating_dof: true
diff --git a/robobase/cfgs/env/bigym/flip_cutlery.yaml b/robobase/cfgs/env/bigym/flip_cutlery.yaml
@@ -0,0 +1,12 @@
+# @package _global_
+
+defaults:
+  - bigym
+  - _self_
+
+env:
+  task_name: flip_cutlery
+  stddev_schedule: linear(1.0,0.1,500000)
+  episode_length: 12500
+  demo_down_sample_rate: 25
+  enable_all_floating_dof: true
diff --git a/robobase/cfgs/env/bigym/move_plate.yaml b/robobase/cfgs/env/bigym/move_plate.yaml
@@ -0,0 +1,12 @@
+# @package _global_
+
+defaults:
+  - bigym
+  - _self_
+
+env:
+  task_name: move_plate
+  stddev_schedule: linear(1.0,0.1,500000)
+  episode_length: 3000
+  demo_down_sample_rate: 10
+  enable_all_floating_dof: true
diff --git a/robobase/cfgs/env/bigym/move_two_plates.yaml b/robobase/cfgs/env/bigym/move_two_plates.yaml
@@ -0,0 +1,12 @@
+# @package _global_
+
+defaults:
+  - bigym
+  - _self_
+
+env:
+  task_name: move_two_plates
+  stddev_schedule: linear(1.0,0.1,500000)
+  episode_length: 5500
+  demo_down_sample_rate: 10
+  enable_all_floating_dof: true
diff --git a/robobase/cfgs/env/bigym/pick_box.yaml b/robobase/cfgs/env/bigym/pick_box.yaml
@@ -0,0 +1,12 @@
+# @package _global_
+
+defaults:
+  - bigym
+  - _self_
+
+env:
+  task_name: pick_box
+  stddev_schedule: linear(1.0,0.1,500000)
+  episode_length: 13500
+  demo_down_sample_rate: 25
+  enable_all_floating_dof: true
diff --git a/robobase/cfgs/env/bigym/put_cups.yaml b/robobase/cfgs/env/bigym/put_cups.yaml
@@ -0,0 +1,12 @@
+# @package _global_
+
+defaults:
+  - bigym
+  - _self_
+
+env:
+  task_name: put_cups
+  stddev_schedule: linear(1.0,0.1,500000)
+  episode_length: 8500
+  demo_down_sample_rate: 20
+  enable_all_floating_dof: true
diff --git a/robobase/cfgs/env/bigym/put_plate_in_drainer.yaml b/robobase/cfgs/env/bigym/put_plate_in_drainer.yaml
diff --git a/robobase/cfgs/env/bigym/reach_target.yaml b/robobase/cfgs/env/bigym/reach_target.yaml
diff --git a/robobase/cfgs/env/bigym/reach_target_dual.yaml b/robobase/cfgs/env/bigym/reach_target_dual.yaml
@@ -0,0 +1,12 @@
+# @package _global_
+
+defaults:
+  - bigym
+  - _self_
+
+env:
+  task_name: reach_target_dual
+  stddev_schedule: linear(1.0,0.1,500000)
+  episode_length: 3000
+  demo_down_sample_rate: 10
+  enable_all_floating_dof: false
diff --git a/robobase/cfgs/env/bigym/reach_target_multi_modal.yaml b/robobase/cfgs/env/bigym/reach_target_multi_modal.yaml
@@ -0,0 +1,12 @@
+# @package _global_
+
+defaults:
+  - bigym
+  - _self_
+
+env:
+  task_name: reach_target_multi_modal
+  stddev_schedule: linear(1.0,0.1,500000)
+  episode_length: 3000
+  demo_down_sample_rate: 25
+  enable_all_floating_dof: false
Original file line number	Diff line number	Diff line change
Expand Up		@@ -31,4 +31,4 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0

		### Fixed

		- None.
		- None.