| task: flatten_tshirt_procedural_fold | |
| repo_id: flatten_tshirt_procedural_fold_clean200 | |
| 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: | |
| mode: procedural_fold | |
| base_pos: | |
| - 0.319347 | |
| - -0.342035 | |
| - 0.01 | |
| base_quat: | |
| - 1 | |
| - 0 | |
| - 0 | |
| - 0 | |
| pos_offset: | |
| enabled: true | |
| range_x: | |
| - -0.02 | |
| - 0.02 | |
| range_y: | |
| - -0.02 | |
| - 0.02 | |
| rot_offset: | |
| enabled: true | |
| axis_z_only: true | |
| angle_range_deg: | |
| - -5 | |
| - 5 | |
| procedural_fold: | |
| protected_keypoints: | |
| - left_shoulder | |
| - left_hem | |
| protection_radius: 0.045 | |
| max_patch_pins: 16 | |
| program: null | |
| lift_height: | |
| - 0.08 | |
| - 0.16 | |
| segment_durations: | |
| - 0.25 | |
| - 0.5 | |
| - 0.25 | |
| final_z: 0.012 | |
| protected_settle_duration: 0.8 | |
| settle_duration: 0.4 | |
| programs: | |
| right_sleeve_in: | |
| - handle: right_sleeve_outer | |
| target: right_shoulder | |
| offset: | |
| - -0.02 | |
| - 0.0 | |
| right_half_in: | |
| - handle: right_sleeve_outer | |
| target: center | |
| offset: | |
| - 0.0 | |
| - 0.03 | |
| - handle: right_hem | |
| target: center | |
| offset: | |
| - 0.03 | |
| - -0.03 | |
| center_bunch: | |
| - handle: right_collar | |
| target: center | |
| offset: | |
| - -0.02 | |
| - 0.0 | |
| - handle: right_shoulder | |
| target: center | |
| offset: | |
| - 0.03 | |
| - 0.02 | |
| robot_init: | |
| start_pose: lift_silk | |
| noise_scale: 0.0 | |
| light: | |
| enabled: false | |