close_window_spray_floating_sharpa_scripted: 200 scripted Sharpa episodes (LeRobot v3.0)
5a44e3a verified | { | |
| "task": "close_window_spray", | |
| "options": { | |
| "sim": { | |
| "control_hz": 20, | |
| "performance_mode": false, | |
| "n_envs": 1, | |
| "physics_substeps": 8, | |
| "precision": "32" | |
| }, | |
| "robot": { | |
| "type_of_robot": "single", | |
| "single": { | |
| "manipulator": "floating", | |
| "gripper": "sharpa_fardexbot", | |
| "manipulator_controller": { | |
| "name": "osc_pose_abs_quat", | |
| "config": { | |
| "normalized": false, | |
| "clip": false, | |
| "lin_range": [ | |
| 1.5, | |
| 1.0, | |
| 1.0 | |
| ], | |
| "position_cost": 2.0, | |
| "orientation_cost": 2.0, | |
| "posture_cost": 0.1, | |
| "damping_cost": 0.01, | |
| "max_joint_step": 0.35, | |
| "pos_tol": 0.001, | |
| "mink_dt": 0.05 | |
| } | |
| }, | |
| "gripper_controller": { | |
| "name": "joint_position", | |
| "config": { | |
| "normalized": false, | |
| "clip": false | |
| } | |
| }, | |
| "workspace": { | |
| "min": [ | |
| 0.05, | |
| -0.6, | |
| -0.1 | |
| ], | |
| "max": [ | |
| 0.8, | |
| 0.6, | |
| 0.7 | |
| ] | |
| } | |
| }, | |
| "left": null, | |
| "right": null, | |
| "layout": { | |
| "preset": null, | |
| "params": {}, | |
| "single": { | |
| "pos": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "yaw_rad": 0.0, | |
| "quat": null | |
| }, | |
| "left": null, | |
| "right": null | |
| }, | |
| "visualize_tcp": false, | |
| "visualize_aabb": false | |
| }, | |
| "cameras": { | |
| "static": { | |
| "front": { | |
| "pos": [ | |
| -0.45, | |
| -0.9, | |
| 0.9 | |
| ], | |
| "lookat": [ | |
| 0.58, | |
| -0.05, | |
| 0.36 | |
| ], | |
| "fov": 50.0, | |
| "res": [ | |
| 224, | |
| 224 | |
| ], | |
| "gui": false, | |
| "near": 0.1, | |
| "far": 20.0 | |
| } | |
| }, | |
| "dynamic": { | |
| "wrist": { | |
| "link": null, | |
| "pos_offset": [ | |
| 0.073, | |
| 0.009, | |
| -0.0102 | |
| ], | |
| "quat_offset": [ | |
| 0.0, | |
| 0.7071068, | |
| -0.7071068, | |
| 0.0 | |
| ], | |
| "fov": 57.3, | |
| "res": [ | |
| 224, | |
| 224 | |
| ], | |
| "gui": false, | |
| "near": 0.005, | |
| "far": 20.0 | |
| } | |
| }, | |
| "modalities": [ | |
| "rgb", | |
| "depth" | |
| ] | |
| } | |
| } | |
| } |