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