| { | |
| "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 | |
| } | |