File size: 554 Bytes
a3cddc4 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 | {
"schema_version": "1.0",
"scene_usd": "/absolute/path/to/warehouse_scene.usd",
"policy": "franka_pick_place",
"prims": {
"robot": "/World/Franka",
"collision_parent": "/World/Franka/panda_link0",
"task_object": "/World/TaskObject",
"task_target": "/World/TaskTarget",
"hazard": "/World/Hazard",
"camera": "/World/Camera",
"lights": ["/World/KeyLight"]
},
"clearance_radii_m": {
"robot": 0.32,
"hazard": 0.3
},
"success_tolerance_m": 0.035,
"end_effector_offset": [0, 0, 0.2],
"max_steps": 4000
}
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