| 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 | |