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