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GenSim
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# Data Generation

defaults:
  - config

hydra:
  run:
    dir: ${root_dir}

data_dir: ${root_dir}/data  # where to store dataset
assets_root: ${root_dir}/cliport/environments/assets/
disp: False  # visualize PyBullet
shared_memory: False
task: packing-boxes-pairs-seen-colors
mode: train # 'train' or 'val' or 'test'
n: 1000 # number of demos to generate
save_data: True  # write episodes to disk

dataset:
  type: 'single' # 'single' or 'multi'
  images: True
  cache: True # load episodes to memory instead of reading from disk
  augment:
    theta_sigma: 60 # rotation sigma in degrees; N(mu = 0, sigma = theta_sigma).

# record videos (super slow)
record:
  save_video: True
  save_video_path: ${data_dir}/${task}-${mode}/videos/
  add_text: False
  add_task_text: True
  fps: 20
  video_height: 640
  video_width: 720