# scene
scene: igibson
scene_id: Rs_int
clutter: false
build_graph: true
load_texture: true
pybullet_load_texture: true
should_open_all_doors: false

# domain randomization
texture_randomization_freq: null
object_randomization_freq: null

# robot
robot:
  name: BehaviorRobot

  # For the VR use case, we use the higher set of joint speed/position limits, and a different gripper action space.
  show_visual_head: False
  higher_limits: True
  controller_config:
    gripper_right_hand:
      name: JointController
    gripper_left_hand:
      name: JointController

# task
task: cleaning_kitchen_cupboard
task_id: 0
instance_id: 0
online_sampling: false
should_highlight_task_relevant_objs: false

# discount factor
discount_factor: 0.99

# termination condition (VR demo collection should last forever)
max_step: 10000000000

# sensor spec
output: [proprioception]
# image
fisheye: false
image_width: 128
image_height: 128
vertical_fov: 120
# depth
depth_low: 0.0
depth_high: 10.0

# sensor noise
depth_noise_rate: 0.0
scan_noise_rate: 0.0
