# 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