| viewer: |
| eye: !!python/tuple |
| - 7.5 |
| - 7.5 |
| - 7.5 |
| lookat: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| cam_prim_path: /OmniverseKit_Persp |
| resolution: !!python/tuple |
| - 1280 |
| - 720 |
| origin_type: world |
| env_index: 0 |
| asset_name: null |
| body_name: null |
| sim: |
| physics_prim_path: /physicsScene |
| device: cuda:0 |
| dt: 0.008333333333333333 |
| render_interval: 1 |
| gravity: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - -9.81 |
| enable_scene_query_support: false |
| use_fabric: true |
| physx: |
| solver_type: 1 |
| min_position_iteration_count: 1 |
| max_position_iteration_count: 192 |
| min_velocity_iteration_count: 0 |
| max_velocity_iteration_count: 1 |
| enable_ccd: false |
| enable_stabilization: false |
| enable_enhanced_determinism: false |
| bounce_threshold_velocity: 0.2 |
| friction_offset_threshold: 0.01 |
| friction_correlation_distance: 0.00625 |
| gpu_max_rigid_contact_count: 8388608 |
| gpu_max_rigid_patch_count: 8388608 |
| gpu_found_lost_pairs_capacity: 2097152 |
| gpu_found_lost_aggregate_pairs_capacity: 33554432 |
| gpu_total_aggregate_pairs_capacity: 2097152 |
| gpu_collision_stack_size: 268435456 |
| gpu_heap_capacity: 67108864 |
| gpu_temp_buffer_capacity: 16777216 |
| gpu_max_num_partitions: 1 |
| gpu_max_soft_body_contacts: 1048576 |
| gpu_max_particle_contacts: 1048576 |
| solve_articulation_contact_last: false |
| physics_material: |
| func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material |
| static_friction: 1.0 |
| dynamic_friction: 1.0 |
| restitution: 0.0 |
| friction_combine_mode: average |
| restitution_combine_mode: average |
| compliant_contact_stiffness: 0.0 |
| compliant_contact_damping: 0.0 |
| render: |
| enable_translucency: null |
| enable_reflections: null |
| enable_global_illumination: null |
| antialiasing_mode: null |
| enable_dlssg: null |
| enable_dl_denoiser: null |
| dlss_mode: null |
| enable_direct_lighting: null |
| samples_per_pixel: null |
| enable_shadows: null |
| enable_ambient_occlusion: null |
| dome_light_upper_lower_strategy: null |
| carb_settings: null |
| rendering_mode: null |
| create_stage_in_memory: false |
| ui_window_class_type: isaaclab.envs.ui.base_env_window:BaseEnvWindow |
| seed: 0 |
| decimation: 8 |
| is_finite_horizon: false |
| episode_length_s: 30.0 |
| scene: |
| num_envs: 128 |
| env_spacing: 2.0 |
| lazy_sensor_update: true |
| replicate_physics: true |
| filter_collisions: true |
| clone_in_fabric: true |
| events: |
| object_scale_mass: |
| func: isaaclab.envs.mdp.events:randomize_rigid_body_mass |
| params: |
| asset_cfg: |
| name: held_asset |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| fixed_tendon_names: null |
| fixed_tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| object_collection_names: null |
| object_collection_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| mass_distribution_params: !!python/tuple |
| - -0.005 |
| - 0.005 |
| operation: add |
| distribution: uniform |
| mode: reset |
| interval_range_s: null |
| is_global_time: false |
| min_step_count_between_reset: 0 |
| held_physics_material: |
| func: isaaclab.envs.mdp.events:randomize_rigid_body_material |
| params: |
| asset_cfg: |
| name: held_asset |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| fixed_tendon_names: null |
| fixed_tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| object_collection_names: null |
| object_collection_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| static_friction_range: !!python/tuple |
| - 0.75 |
| - 0.75 |
| dynamic_friction_range: !!python/tuple |
| - 0.75 |
| - 0.75 |
| restitution_range: !!python/tuple |
| - 0.0 |
| - 0.0 |
| num_buckets: 1 |
| mode: startup |
| interval_range_s: null |
| is_global_time: false |
| min_step_count_between_reset: 0 |
| fixed_physics_material: |
| func: isaaclab.envs.mdp.events:randomize_rigid_body_material |
| params: |
| asset_cfg: |
| name: fixed_asset |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| fixed_tendon_names: null |
| fixed_tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| object_collection_names: null |
| object_collection_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| static_friction_range: !!python/tuple |
| - 0.25 |
| - 1.25 |
| dynamic_friction_range: !!python/tuple |
| - 0.25 |
| - 0.25 |
| restitution_range: !!python/tuple |
| - 0.0 |
| - 0.0 |
| num_buckets: 128 |
| mode: startup |
| interval_range_s: null |
| is_global_time: false |
| min_step_count_between_reset: 0 |
| robot_physics_material: |
| func: isaaclab.envs.mdp.events:randomize_rigid_body_material |
| params: |
| asset_cfg: |
| name: robot |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| fixed_tendon_names: null |
| fixed_tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: .* |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| object_collection_names: null |
| object_collection_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| static_friction_range: !!python/tuple |
| - 0.75 |
| - 0.75 |
| dynamic_friction_range: !!python/tuple |
| - 0.75 |
| - 0.75 |
| restitution_range: !!python/tuple |
| - 0.0 |
| - 0.0 |
| num_buckets: 1 |
| mode: startup |
| interval_range_s: null |
| is_global_time: false |
| min_step_count_between_reset: 0 |
| dead_zone_thresholds: |
| func: vla_lab.tasks.direct.base_line.forge.forge_events:randomize_dead_zone |
| params: {} |
| mode: interval |
| interval_range_s: !!python/tuple |
| - 2.0 |
| - 2.0 |
| is_global_time: false |
| min_step_count_between_reset: 0 |
| observation_space: 21 |
| num_observations: null |
| state_space: 72 |
| num_states: null |
| observation_noise_model: null |
| action_space: 7 |
| num_actions: null |
| action_noise_model: null |
| rerender_on_reset: false |
| wait_for_textures: true |
| xr: null |
| log_dir: null |
| obs_order: |
| - fingertip_pos_rel_fixed |
| - fingertip_quat |
| - ee_linvel |
| - ee_angvel |
| - ft_force |
| - force_threshold |
| state_order: |
| - fingertip_pos |
| - fingertip_quat |
| - ee_linvel |
| - ee_angvel |
| - joint_pos |
| - held_pos |
| - held_pos_rel_fixed |
| - held_quat |
| - fixed_pos |
| - fixed_quat |
| - task_prop_gains |
| - ema_factor |
| - ft_force |
| - pos_threshold |
| - rot_threshold |
| - force_threshold |
| task_name: nut_thread |
| task: |
| robot_cfg: |
| robot_usd: '' |
| franka_fingerpad_length: 0.017608 |
| friction: 0.75 |
| name: nut_thread |
| fixed_asset_cfg: |
| usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/IsaacLab/Factory/factory_bolt_m16.usd |
| diameter: 0.024 |
| height: 0.025 |
| base_height: 0.01 |
| friction: 0.75 |
| mass: 0.05 |
| thread_pitch: 0.002 |
| held_asset_cfg: |
| usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/IsaacLab/Factory/factory_nut_m16.usd |
| diameter: 0.024 |
| height: 0.01 |
| friction: 0.01 |
| mass: 0.03 |
| asset_size: 16.0 |
| hand_init_pos: |
| - 0.0 |
| - 0.0 |
| - 0.015 |
| hand_init_pos_noise: |
| - 0.02 |
| - 0.02 |
| - 0.01 |
| hand_init_orn: |
| - 3.1416 |
| - 0.0 |
| - 1.83 |
| hand_init_orn_noise: |
| - 0.0 |
| - 0.0 |
| - 0.26 |
| unidirectional_rot: true |
| fixed_asset_init_pos_noise: |
| - 0.05 |
| - 0.05 |
| - 0.05 |
| fixed_asset_init_orn_deg: 120.0 |
| fixed_asset_init_orn_range_deg: 30.0 |
| held_asset_pos_noise: |
| - 0.0 |
| - 0.003 |
| - 0.003 |
| held_asset_rot_init: -90.0 |
| ee_success_yaw: 0.0 |
| action_penalty_ee_scale: 0.0 |
| action_grad_penalty_scale: 0.0 |
| num_keypoints: 4 |
| keypoint_scale: 0.05 |
| keypoint_coef_baseline: |
| - 100 |
| - 2 |
| keypoint_coef_coarse: |
| - 500 |
| - 2 |
| keypoint_coef_fine: |
| - 1500 |
| - 0 |
| success_threshold: 0.375 |
| engage_threshold: 0.5 |
| duration_s: 30.0 |
| action_penalty_asset_scale: 0.001 |
| contact_penalty_scale: 0.05 |
| delay_until_ratio: 0.25 |
| contact_penalty_threshold_range: |
| - 5.0 |
| - 10.0 |
| fixed_asset: |
| class_type: isaaclab.assets.articulation.articulation:Articulation |
| prim_path: /World/envs/env_.*/FixedAsset |
| spawn: |
| func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| mass_props: |
| mass: 0.05 |
| density: null |
| deformable_props: null |
| rigid_props: |
| rigid_body_enabled: null |
| kinematic_enabled: null |
| disable_gravity: false |
| linear_damping: 0.0 |
| angular_damping: 0.0 |
| max_linear_velocity: 1000.0 |
| max_angular_velocity: 3666.0 |
| max_depenetration_velocity: 5.0 |
| max_contact_impulse: 1.0e+32 |
| enable_gyroscopic_forces: true |
| retain_accelerations: null |
| solver_position_iteration_count: 192 |
| solver_velocity_iteration_count: 1 |
| sleep_threshold: null |
| stabilization_threshold: null |
| collision_props: |
| collision_enabled: null |
| contact_offset: 0.005 |
| rest_offset: 0.0 |
| torsional_patch_radius: null |
| min_torsional_patch_radius: null |
| activate_contact_sensors: true |
| scale: null |
| articulation_props: null |
| fixed_tendons_props: null |
| spatial_tendons_props: null |
| joint_drive_props: null |
| visual_material_path: material |
| visual_material: null |
| usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/IsaacLab/Factory/factory_bolt_m16.usd |
| variants: null |
| init_state: |
| pos: !!python/tuple |
| - 0.6 |
| - 0.0 |
| - 0.05 |
| rot: !!python/tuple |
| - 1.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| lin_vel: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| ang_vel: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| joint_pos: {} |
| joint_vel: {} |
| collision_group: 0 |
| debug_vis: false |
| articulation_root_prim_path: null |
| soft_joint_pos_limit_factor: 1.0 |
| actuators: {} |
| actuator_value_resolution_debug_print: false |
| held_asset: |
| class_type: isaaclab.assets.articulation.articulation:Articulation |
| prim_path: /World/envs/env_.*/HeldAsset |
| spawn: |
| func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| mass_props: |
| mass: 0.03 |
| density: null |
| deformable_props: null |
| rigid_props: |
| rigid_body_enabled: null |
| kinematic_enabled: null |
| disable_gravity: true |
| linear_damping: 0.0 |
| angular_damping: 0.0 |
| max_linear_velocity: 1000.0 |
| max_angular_velocity: 3666.0 |
| max_depenetration_velocity: 5.0 |
| max_contact_impulse: 1.0e+32 |
| enable_gyroscopic_forces: true |
| retain_accelerations: null |
| solver_position_iteration_count: 192 |
| solver_velocity_iteration_count: 1 |
| sleep_threshold: null |
| stabilization_threshold: null |
| collision_props: |
| collision_enabled: null |
| contact_offset: 0.005 |
| rest_offset: 0.0 |
| torsional_patch_radius: null |
| min_torsional_patch_radius: null |
| activate_contact_sensors: true |
| scale: null |
| articulation_props: null |
| fixed_tendons_props: null |
| spatial_tendons_props: null |
| joint_drive_props: null |
| visual_material_path: material |
| visual_material: null |
| usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/IsaacLab/Factory/factory_nut_m16.usd |
| variants: null |
| init_state: |
| pos: !!python/tuple |
| - 0.0 |
| - 0.4 |
| - 0.1 |
| rot: !!python/tuple |
| - 1.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| lin_vel: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| ang_vel: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| joint_pos: {} |
| joint_vel: {} |
| collision_group: 0 |
| debug_vis: false |
| articulation_root_prim_path: null |
| soft_joint_pos_limit_factor: 1.0 |
| actuators: {} |
| actuator_value_resolution_debug_print: false |
| obs_rand: |
| fixed_asset_pos: |
| - 0.001 |
| - 0.001 |
| - 0.001 |
| fingertip_pos: 0.00025 |
| fingertip_rot_deg: 0.1 |
| ft_force: 1.0 |
| ctrl: |
| ema_factor: 0.2 |
| pos_action_bounds: |
| - 0.05 |
| - 0.05 |
| - 0.05 |
| rot_action_bounds: |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| pos_action_threshold: |
| - 0.02 |
| - 0.02 |
| - 0.02 |
| rot_action_threshold: |
| - 0.097 |
| - 0.097 |
| - 0.097 |
| reset_joints: |
| - 0.0015178 |
| - -0.19651 |
| - -0.0014364 |
| - -1.9761 |
| - -0.00027717 |
| - 1.7796 |
| - 0.78556 |
| reset_task_prop_gains: |
| - 300 |
| - 300 |
| - 300 |
| - 20 |
| - 20 |
| - 20 |
| reset_rot_deriv_scale: 10.0 |
| default_task_prop_gains: |
| - 565.0 |
| - 565.0 |
| - 565.0 |
| - 28.0 |
| - 28.0 |
| - 28.0 |
| default_dof_pos_tensor: |
| - -1.3003 |
| - -0.4015 |
| - 1.1791 |
| - -2.1493 |
| - 0.4001 |
| - 1.9425 |
| - 0.4754 |
| kp_null: 10.0 |
| kd_null: 6.3246 |
| ema_factor_range: |
| - 0.025 |
| - 0.1 |
| task_prop_gains_noise_level: |
| - 0.41 |
| - 0.41 |
| - 0.41 |
| - 0.41 |
| - 0.41 |
| - 0.41 |
| pos_threshold_noise_level: |
| - 0.25 |
| - 0.25 |
| - 0.25 |
| rot_threshold_noise_level: |
| - 0.29 |
| - 0.29 |
| - 0.29 |
| default_dead_zone: |
| - 5.0 |
| - 5.0 |
| - 5.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| robot: |
| class_type: isaaclab.assets.articulation.articulation:Articulation |
| prim_path: /World/envs/env_.*/Robot |
| spawn: |
| func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| mass_props: null |
| deformable_props: null |
| rigid_props: |
| rigid_body_enabled: null |
| kinematic_enabled: null |
| disable_gravity: true |
| linear_damping: 0.0 |
| angular_damping: 0.0 |
| max_linear_velocity: 1000.0 |
| max_angular_velocity: 3666.0 |
| max_depenetration_velocity: 5.0 |
| max_contact_impulse: 1.0e+32 |
| enable_gyroscopic_forces: true |
| retain_accelerations: null |
| solver_position_iteration_count: 192 |
| solver_velocity_iteration_count: 1 |
| sleep_threshold: null |
| stabilization_threshold: null |
| collision_props: |
| collision_enabled: null |
| contact_offset: 0.005 |
| rest_offset: 0.0 |
| torsional_patch_radius: null |
| min_torsional_patch_radius: null |
| activate_contact_sensors: true |
| scale: null |
| articulation_props: |
| articulation_enabled: null |
| enabled_self_collisions: false |
| solver_position_iteration_count: 192 |
| solver_velocity_iteration_count: 1 |
| sleep_threshold: null |
| stabilization_threshold: null |
| fix_root_link: null |
| fixed_tendons_props: null |
| spatial_tendons_props: null |
| joint_drive_props: null |
| visual_material_path: material |
| visual_material: null |
| usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/IsaacLab/Factory/franka_mimic.usd |
| variants: null |
| init_state: |
| pos: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| rot: !!python/tuple |
| - 1.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| lin_vel: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| ang_vel: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| joint_pos: |
| panda_joint1: 0.00871 |
| panda_joint2: -0.10368 |
| panda_joint3: -0.00794 |
| panda_joint4: -1.49139 |
| panda_joint5: -0.00083 |
| panda_joint6: 1.38774 |
| panda_joint7: 0.0 |
| panda_finger_joint2: 0.04 |
| joint_vel: |
| .*: 0.0 |
| collision_group: 0 |
| debug_vis: false |
| articulation_root_prim_path: null |
| soft_joint_pos_limit_factor: 1.0 |
| actuators: |
| panda_arm1: |
| class_type: isaaclab.actuators.actuator_pd:ImplicitActuator |
| joint_names_expr: |
| - panda_joint[1-4] |
| effort_limit: null |
| velocity_limit: null |
| effort_limit_sim: 87 |
| velocity_limit_sim: 124.6 |
| stiffness: 0.0 |
| damping: 0.0 |
| armature: 0.0 |
| friction: 0.0 |
| dynamic_friction: null |
| viscous_friction: null |
| panda_arm2: |
| class_type: isaaclab.actuators.actuator_pd:ImplicitActuator |
| joint_names_expr: |
| - panda_joint[5-7] |
| effort_limit: null |
| velocity_limit: null |
| effort_limit_sim: 12 |
| velocity_limit_sim: 149.5 |
| stiffness: 0.0 |
| damping: 0.0 |
| armature: 0.0 |
| friction: 0.0 |
| dynamic_friction: null |
| viscous_friction: null |
| panda_hand: |
| class_type: isaaclab.actuators.actuator_pd:ImplicitActuator |
| joint_names_expr: |
| - panda_finger_joint[1-2] |
| effort_limit: null |
| velocity_limit: null |
| effort_limit_sim: 40.0 |
| velocity_limit_sim: 0.04 |
| stiffness: 7500.0 |
| damping: 173.0 |
| armature: 0.0 |
| friction: 0.1 |
| dynamic_friction: null |
| viscous_friction: null |
| actuator_value_resolution_debug_print: false |
| ft_smoothing_factor: 0.25 |
|
|
