File size: 706 Bytes
c5b313e | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 | task: grasp_bag_strap
repo_id: grasp_bag_strap
num_episodes: 1
target_episodes: 200
render: kit
image_hw:
- 720
- 1280
sim:
physics_fps: 50
substeps: 10
control_fps: 25
save_render_state: false
enable_collision_trick: true
randomization:
seed: 42
cloth_init:
base_pos:
- 0.4
- 0.0
- 0.0
base_quat:
- 1.0
- 0.0
- 0.0
- 0.0
pos_offset:
enabled: true
range_x:
- -0.04
- 0.04
range_y:
- -0.04
- 0.04
rot_offset:
enabled: true
axis_z_only: true
angle_range_deg:
- -5
- 5
settle_duration: 1.0
robot_init:
start_pose: lift_silk
noise_scale: 0.5
light:
enabled: false
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