| # Phase 2 configuration: scripted expert, grasp validation, domain randomisation, | |
| # LeRobot export. Every randomisation range lives here so it can be widened later. | |
| # Units: metres, radians unless a key says _deg or _mm. [lo, hi] means uniform. | |
| [dataset] | |
| repo_id = "local/so101_chess_sim" | |
| root = "data/so101_chess_sim" # relative to the project root | |
| fps = 30 # control and recording rate. Real UVC cameras run 30 fps. | |
| cameras = ["overhead", "rover", "wrist"] | |
| image_width = 640 # 4:3 like the real cameras; SmolVLA pads to 512 x 512 | |
| image_height = 480 | |
| instruction = "move the piece on the red square to the blue square" | |
| episodes = 20000 # successful episodes to collect | |
| workers = 8 | |
| episodes_per_piece_set = 25 # a worker draws a new piece set this often | |
| vcodec = "h264" # libsvtav1 is smaller but much slower to encode on a laptop | |
| [overlay] | |
| source_rgb = [230, 40, 30] # translucent red over the source square | |
| destination_rgb = [70, 90, 255] # translucent blue over the destination square or bin | |
| alpha = 0.5 | |
| jitter_mm = 3.0 # per camera, per episode: imitates board-calibration error | |
| jitter_rot_deg = 2.0 | |
| jitter_scale = 0.03 | |
| wrist_frame_jitter_mm = 0.6 # extra per-frame noise on the wrist view (hand-eye error) | |
| [piece_sets] | |
| # Staunton sets for 25 mm squares, varied around the 46 mm-king reference meshes. | |
| scale = [0.90, 1.08] # whole set | |
| height_stretch = [0.95, 1.08] # taller, slimmer sets | |
| per_kind_height = [0.96, 1.04] # proportions differ between makers | |
| max_foot_mm = 20.0 # a foot wider than 80% of the square is rejected | |
| [grasp] | |
| # Fingertip height above the base, as a fraction of piece height. The jaws then | |
| # close on the widest part just above the tips: pawn head, rook turret, bishop mitre, | |
| # queen and king upper-body collar. Knights are pinched on the flat sides of the | |
| # head, jaws across the direction they face (diagonal jaws let them tilt 8-16 deg). | |
| tip_fraction = { pawn = 0.63, rook = 0.55, knight = 0.40, bishop = 0.63, queen = 0.45, king = 0.39 } | |
| fixed_gap_mm = 0.8 # piece axis this far off the fixed finger when descending | |
| open_margins_mm = [3.0, 2.0] # moving jaw clearance before closing; the smaller if neighbours crowd | |
| release_margins_mm = [3.0, 1.8] # how far the jaw opens to let go, likewise | |
| close_q = -0.17453 # "closed" command, the gripper's lower limit | |
| [expert] | |
| home = [0.0, -1.2, 0.95, 1.45, 0.0] # folded; clear of self-contact under jitter | |
| home_jitter = 0.06 # per joint, start and end pose | |
| home_gripper = [-0.05, 0.30] | |
| speed_scale = [0.8, 1.2] # all segment durations divided by this | |
| joint_speed = 0.8 # rad/s, free moves from and to rest | |
| carry_speed = 0.08 # m/s; faster lets the servos lag at full stretch | |
| vertical_speed = 0.045 # m/s, descents and lifts | |
| travel_clearance_mm = 10.0 # carried piece base above the tallest piece nearby | |
| # Planning clearances. Sideways moves lag behind the plan by a few mm; slow vertical | |
| # moves (descend, grasp, lift, place, release) track within about 0.3 mm. | |
| plan_margin_mm = 2.0 # arm to other pieces, sideways moves | |
| carry_margin_mm = 4.0 # carried piece to other pieces, sideways moves | |
| vertical_margin_mm = 1.0 # arm to other pieces during vertical moves | |
| vertical_carry_margin_mm = 1.5 # carried piece, which leans a few degrees in the hand | |
| lift_carry_margin_mm = 0.5 # carried piece during the lift, which starts beside its neighbours | |
| place_nudge_mm = 2.5 # drop point moved this far from crowding neighbours | |
| static_margin_mm = 1.5 # ... from the deck, camera mounts, board edge and tray | |
| self_margin_mm = 0.5 # hand from the upper links (their hulls are already bulky) | |
| place_drop_mm = 1.5 # piece base released this high above the board | |
| bin_release_mm = 30.0 # piece base above the bin floor when released | |
| retreat_mm = 45.0 | |
| plan_budget_s = 300.0 # a pick or place plan gives up after this long (successes take seconds, | |
| # the last fallbacks near the base up to a few minutes) | |
| [layout] | |
| # Board and tray geometry, drawn with each piece set (every episodes_per_piece_set | |
| # episodes). Piece sizes follow the square size, as real sets do. | |
| square_mm = [22.0, 25.0] | |
| border_mm = [6.0, 22.0] | |
| board_thickness_mm = [3.0, 20.0] # vinyl mat to thick wooden board | |
| tray_half_x_mm = [39.0, 50.0] # outer half extents | |
| tray_half_y_mm = [30.0, 40.0] | |
| tray_rim_mm = [12.0, 25.0] | |
| min_slack_m = 0.003 # a board square and flush with the deck keeps this much reach to spare | |
| [board] | |
| # Per episode; redrawn until every square centre is within reach_m of the pan axis | |
| # (the arm reaches 0.282 m straight down) and the board clears the deck. | |
| robot_plays_white_probability = 0.5 # board turned half a turn: white pieces nearest the robot | |
| yaw_deg = [-15.0, 15.0] # casually set down, not square to the robot | |
| offset_x = [0.0, 0.05] # from flush against the deck front | |
| offset_y = [-0.06, 0.06] | |
| deck_gap_m = 0.002 | |
| reach_m = 0.278 | |
| [tray] | |
| # Either side of the board, at an angle; redrawn until its drop area is within reach. | |
| left_probability = 0.5 | |
| azimuth_deg = [30.0, 60.0] # from straight ahead, measured at the pan axis: beside the board, | |
| radius_m = [0.18, 0.27] # not beside the deck (carries there pass the base out of reach) | |
| yaw_deg = [-25.0, 25.0] | |
| board_gap_m = 0.01 | |
| deck_gap_m = 0.01 | |
| rover_camera_clearance_m = 0.10 # tray centre from the rover camera housing (right side) | |
| reach_m = 0.272 | |
| [table] | |
| # The table slides under everything; edges and corners, with the floor in view, come | |
| # up often (U-shaped draw). | |
| margin_m = 0.03 # deck, board and tray at least this far inside the edge | |
| back_edge_min_x = -0.72 # the table stays clear of the back wall | |
| edge_bias = [0.6, 0.6] # beta distribution over the allowed range | |
| [pieces] | |
| offcentre_mm = 3.0 # radius of random placement error in a square | |
| knight_yaw_deg = 25.0 # knights face the opponent within this | |
| random_plies = [0, 70] # random legal plies from the opening | |
| free_move_probability = 0.15 # otherwise a legal move of the side to move | |
| capture_to_bin_probability = 0.5 # for a capture, record the bin primitive instead | |
| pieces_in_bin = [0, 3] # captured pieces lying in the tray (three slots) | |
| [physics] | |
| mass_scale = [0.7, 1.4] | |
| friction = [0.45, 1.0] # piece and jaw sliding friction | |
| board_friction = [0.4, 0.9] | |
| [appearance] | |
| flat_board_probability = 0.3 # vinyl tournament board instead of wood | |
| tint = 0.12 # multiplicative colour jitter on wood | |
| table_specular = [0.05, 0.7] # matte to glossy laminate (bright lamp spots) | |
| table_shininess = [0.1, 0.9] | |
| two_tone_arm_probability = 0.15 | |
| [lighting] | |
| # One key lamp plus up to three others. Intensities are MuJoCo diffuse values. | |
| key_weights = { window_key = 0.3, ceiling_fill = 0.3, desk_lamp = 0.25, sun = 0.15 } | |
| extra_probability = 0.3 | |
| max_lights = 4 | |
| max_shadows = 2 | |
| lamp_k = [2700.0, 6500.0] # warm bulb to daylight | |
| sun_k = [5000.0, 6500.0] | |
| ambient = [0.15, 0.5] | |
| intensity = { window_key = [0.25, 0.8], ceiling_fill = [0.15, 0.6], ceiling_2 = [0.1, 0.5], desk_lamp = [0.3, 0.9], sun = [0.2, 0.7], fill_2 = [0.05, 0.25] } | |
| cutoff_deg = { window_key = [50.0, 80.0], ceiling_fill = [55.0, 90.0], ceiling_2 = [55.0, 90.0], desk_lamp = [25.0, 50.0], fill_2 = [60.0, 90.0] } | |
| ceiling_height_m = [1.0, 1.6] | |
| window_distance_m = [0.7, 1.4] | |
| window_height_m = [0.5, 1.3] | |
| desk_lamp_distance_m = [0.25, 0.6] | |
| desk_lamp_height_m = [0.25, 0.6] | |
| sun_elevation_deg = [20.0, 70.0] | |
| [clutter] | |
| # Everyday things on the table, never on the board or the tray. Tall ones (laptop, mug) | |
| # stay out of the arm's reach or behind the robot. | |
| probability = { laptop = 0.4, phone = 0.5, mug = 0.4, notebook = 0.4, pen = 0.4 } | |
| cable_probability = [0.7, 0.4] | |
| cable_length_m = [0.35, 1.0] | |
| cable_radius_m = [0.0018, 0.003] | |
| keep_out_m = 0.02 | |
| tall_min_reach_m = 0.34 | |
| [cameras] | |
| # Overhead: anywhere a person could mount it at home (the owner's webcam is about 65 cm | |
| # up, looking straight down, about 44 degrees top to bottom). Azimuth 0 is the human's | |
| # side; the robot sits at 180, which is left out. | |
| overhead_height_m = [0.35, 0.80] # above the board | |
| overhead_tilt_deg = [0.0, 45.0] # from straight down | |
| overhead_azimuth_deg = [-150.0, 150.0] | |
| overhead_roll_deg = [-15.0, 15.0] | |
| overhead_fovy_deg = [38.0, 62.0] # common webcams, vertical | |
| overhead_target_jitter_m = 0.03 | |
| overhead_margin = 0.02 # board and tray corners this far inside the image | |
| # Rover and wrist cameras sit on the robot: remounting errors only. | |
| rover_pos_jitter = 0.01 | |
| rover_rot_jitter_deg = 4.0 | |
| rover_fovy_jitter_deg = 5.0 | |
| wrist_pos_jitter = 0.002 | |
| wrist_rot_jitter_deg = 1.0 | |
| wrist_fovy_jitter_deg = 1.5 | |
| [webcam] | |
| # Per camera, per episode: how a cheap UVC webcam renders the scene. Applied before | |
| # the red and blue squares, which are drawn on the captured frame. | |
| auto_exposure_target = [0.38, 0.55] # mean brightness the camera settles on | |
| white_balance = 0.12 # per-channel gain jitter, warm to cool | |
| exposure = [0.75, 1.3] # around the auto-exposure: under- to over-exposed | |
| gamma = [0.85, 1.2] | |
| saturation = [0.75, 1.2] | |
| contrast = [0.85, 1.15] | |
| blur_px = [0.0, 1.2] # Gaussian sigma | |
| noise = [0.0, 0.012] # per-pixel standard deviation, per frame (room light; noise is what inflates the videos) | |
| jpeg_quality = [45, 95] | |
| vignette = [0.0, 0.35] | |
| [validation] | |
| layouts = 4 # nominal board plus random boards, each with its own piece set | |
| piece_sets = 4 # reference set plus random sets (with their board and tray) | |
| bin_every = 4 # every nth trial drops into the bin | |
| success_center_mm = 6.0 # piece centre within this of the square centre | |
| success_tilt_deg = 10.0 | |
| disturb_mm = 2.0 # no other piece moves more than this | |
| workers = 8 | |