config.yaml

---
defaults:
  - _self_
  - envs: mujoco
  - vision: mp_sft
  - envs/search_spaces@hydra.sweeper.params: ${envs}
  - override hydra/hydra_logging: disabled
  - override hydra/job_logging: disabled
  - override hydra/sweeper: custom_sweeper
  - override hydra/sweeper/sampler: tpe
seed: 123
save_gif: false
gif_fps: 20
plot: false
primitive: dynamic # "dynamic" and "quasi-static"" supported
max_steps: 0
data_path: ${oc.env:HOME}/datasets/Benchmarking_cloth
cloth_sample: chequered_rag_0
target: chequered_rag_2
target_path: ${data_path}/${target}/${primitive}/cloud
output_path: ${envs.name}/${target}/${primitive}
real_setup:
  table:
    xmin: -0.4
    xmax: 0.4
    ymin: -0.1
    ymax: 0.8
    zmax: 0.195
  gripper_start:
    left: [0.0, 0.0, 1.0]
    right: [0.5, 0.0, 1.0]
hydra:
  output_subdir:
  run:
    dir: .
  sweeper:
    sampler:
      seed: ${seed}
    direction: minimize
    study_name: ${output_path}
    storage:
    n_trials: 500
    n_jobs: 1
  sweep:
    dir: multirun/${hydra.sweeper.sampler._target_}/${hydra.sweeper.study_name}
    subdir: .