| viewer: |
| eye: !!python/tuple |
| - -1.0 |
| - -1.5 |
| - 1.555 |
| lookat: !!python/tuple |
| - 0.5 |
| - 0.0 |
| - 0.055 |
| cam_prim_path: /OmniverseKit_Persp |
| resolution: !!python/tuple |
| - 1280 |
| - 720 |
| origin_type: env |
| env_index: 0 |
| asset_name: null |
| body_name: null |
| sim: |
| device: cuda:0 |
| dt: 0.005 |
| gravity: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - -9.81 |
| physics_prim_path: /physicsScene |
| physics_material: |
| func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material |
| static_friction: 0.5 |
| dynamic_friction: 0.5 |
| restitution: 0.0 |
| friction_combine_mode: average |
| restitution_combine_mode: average |
| compliant_contact_stiffness: 0.0 |
| compliant_contact_damping: 0.0 |
| use_fabric: true |
| render_interval: 2 |
| enable_scene_query_support: false |
| physics: |
| class_type: isaaclab_physx.physics.physx_manager:PhysxManager |
| solver_type: 1 |
| solve_articulation_contact_last: false |
| min_position_iteration_count: 1 |
| max_position_iteration_count: 255 |
| min_velocity_iteration_count: 0 |
| max_velocity_iteration_count: 255 |
| enable_scene_query_support: false |
| enable_ccd: false |
| enable_stabilization: false |
| enable_external_forces_every_iteration: false |
| enable_enhanced_determinism: false |
| bounce_threshold_velocity: 0.5 |
| friction_offset_threshold: 0.04 |
| friction_correlation_distance: 0.025 |
| gpu_max_rigid_contact_count: 8388608 |
| gpu_max_rigid_patch_count: 163840 |
| gpu_found_lost_pairs_capacity: 2097152 |
| gpu_found_lost_aggregate_pairs_capacity: 33554432 |
| gpu_total_aggregate_pairs_capacity: 2097152 |
| gpu_collision_stack_size: 67108864 |
| gpu_heap_capacity: 67108864 |
| gpu_temp_buffer_capacity: 16777216 |
| gpu_max_num_partitions: 8 |
| gpu_max_soft_body_contacts: 1048576 |
| gpu_max_particle_contacts: 1048576 |
| 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 |
| logging_level: WARNING |
| save_logs_to_file: true |
| log_dir: null |
| visualizer_cfgs: [] |
| ui_window_class_type: isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow |
| seed: 42 |
| decimation: 4 |
| scene: |
| num_envs: 4096 |
| env_spacing: 30.0 |
| lazy_sensor_update: true |
| replicate_physics: false |
| filter_collisions: true |
| clone_in_fabric: false |
| table: |
| class_type: null |
| prim_path: /World/envs/env_.*/table |
| spawn: |
| func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| spawn_path: /World/template/table/proto_asset_.* |
| mass_props: null |
| deformable_props: null |
| rigid_props: null |
| collision_props: null |
| activate_contact_sensors: false |
| scale: !!python/tuple |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| 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-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/Mounts/SeattleLabTable/table_instanceable.usd |
| variants: null |
| init_state: |
| pos: !!python/tuple |
| - 0.5 |
| - 0 |
| - 0 |
| rot: !!python/tuple |
| - 0 |
| - 0 |
| - 0.707 |
| - 0.707 |
| collision_group: 0 |
| debug_vis: false |
| dex_cube: |
| class_type: isaaclab.assets.rigid_object.rigid_object:RigidObject |
| prim_path: /World/envs/env_.*/dex_cube |
| spawn: |
| func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| spawn_path: /World/template/dex_cube/proto_asset_.* |
| mass_props: null |
| deformable_props: null |
| rigid_props: null |
| collision_props: null |
| activate_contact_sensors: true |
| scale: !!python/tuple |
| - 0.8 |
| - 0.8 |
| - 0.8 |
| 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-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/Blocks/DexCube/dex_cube_instanceable.usd |
| variants: null |
| init_state: |
| pos: !!python/tuple |
| - 0.5 |
| - 0 |
| - 0.055 |
| rot: !!python/tuple |
| - 0 |
| - 0 |
| - 0 |
| - 1 |
| lin_vel: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| ang_vel: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| collision_group: 0 |
| debug_vis: false |
| ground_plane: |
| class_type: null |
| prim_path: /World/GroundPlane |
| spawn: |
| func: isaaclab.sim.spawners.from_files.from_files:spawn_ground_plane |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| spawn_path: /World/GroundPlane |
| usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Environments/Grid/default_environment.usd |
| color: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| size: !!python/tuple |
| - 100.0 |
| - 100.0 |
| physics_material: |
| func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material |
| static_friction: 0.5 |
| dynamic_friction: 0.5 |
| restitution: 0.0 |
| friction_combine_mode: average |
| restitution_combine_mode: average |
| compliant_contact_stiffness: 0.0 |
| compliant_contact_damping: 0.0 |
| init_state: |
| pos: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - -1.05 |
| rot: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 1.0 |
| collision_group: 0 |
| debug_vis: false |
| light: |
| class_type: null |
| prim_path: /World/Light |
| spawn: |
| func: isaaclab.sim.spawners.lights.lights:spawn_light |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| spawn_path: /World/Light |
| prim_type: DomeLight |
| color: !!python/tuple |
| - 0.75 |
| - 0.75 |
| - 0.75 |
| enable_color_temperature: false |
| color_temperature: 6500.0 |
| normalize: false |
| exposure: 0.0 |
| intensity: 3000.0 |
| texture_file: null |
| texture_format: automatic |
| visible_in_primary_ray: true |
| init_state: |
| pos: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| rot: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 1.0 |
| collision_group: 0 |
| debug_vis: false |
| 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 |
| spawn_path: /World/template/Robot/proto_asset_.* |
| mass_props: null |
| deformable_props: null |
| rigid_props: |
| rigid_body_enabled: null |
| kinematic_enabled: null |
| disable_gravity: false |
| linear_damping: null |
| angular_damping: null |
| max_linear_velocity: null |
| max_angular_velocity: null |
| max_depenetration_velocity: 5.0 |
| max_contact_impulse: null |
| enable_gyroscopic_forces: null |
| retain_accelerations: null |
| solver_position_iteration_count: null |
| solver_velocity_iteration_count: null |
| sleep_threshold: null |
| stabilization_threshold: null |
| collision_props: null |
| activate_contact_sensors: false |
| scale: null |
| articulation_props: |
| articulation_enabled: null |
| enabled_self_collisions: true |
| solver_position_iteration_count: 8 |
| solver_velocity_iteration_count: 0 |
| 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-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/IsaacLab/Arena/assets/robot_library/franka_panda_hand_on_stand.usd |
| variants: null |
| init_state: |
| pos: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| rot: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 1.0 |
| lin_vel: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| ang_vel: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| joint_pos: |
| panda_joint1: 0.0 |
| panda_joint2: -0.569 |
| panda_joint3: 0.0 |
| panda_joint4: -2.81 |
| panda_joint5: 0.0 |
| panda_joint6: 3.037 |
| panda_joint7: 0.741 |
| panda_finger_joint.*: 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_shoulder: |
| class_type: isaaclab.actuators.actuator_pd:ImplicitActuator |
| joint_names_expr: |
| - panda_joint[1-4] |
| effort_limit: null |
| velocity_limit: null |
| effort_limit_sim: 87.0 |
| velocity_limit_sim: null |
| stiffness: 80.0 |
| damping: 4.0 |
| armature: 0.001 |
| friction: null |
| dynamic_friction: null |
| viscous_friction: null |
| panda_forearm: |
| class_type: isaaclab.actuators.actuator_pd:ImplicitActuator |
| joint_names_expr: |
| - panda_joint[5-7] |
| effort_limit: null |
| velocity_limit: null |
| effort_limit_sim: 12.0 |
| velocity_limit_sim: null |
| stiffness: 80.0 |
| damping: 4.0 |
| armature: 0.001 |
| friction: null |
| dynamic_friction: null |
| viscous_friction: null |
| panda_hand: |
| class_type: isaaclab.actuators.actuator_pd:ImplicitActuator |
| joint_names_expr: |
| - panda_finger_joint.* |
| effort_limit: null |
| velocity_limit: null |
| effort_limit_sim: 200.0 |
| velocity_limit_sim: null |
| stiffness: 2000.0 |
| damping: 100.0 |
| armature: null |
| friction: null |
| dynamic_friction: null |
| viscous_friction: null |
| actuator_value_resolution_debug_print: false |
| ee_frame: |
| class_type: isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer |
| prim_path: /World/envs/env_.*/Robot/panda_link0 |
| update_period: 0.0 |
| debug_vis: false |
| source_frame_offset: |
| pos: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| rot: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 1.0 |
| target_frames: |
| - prim_path: /World/envs/env_.*/Robot/panda_hand |
| name: end_effector |
| offset: |
| pos: |
| - 0.0 |
| - 0.0 |
| - 0.1034 |
| rot: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 1.0 |
| - prim_path: /World/envs/env_.*/Robot/panda_rightfinger |
| name: tool_rightfinger |
| offset: |
| pos: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.046 |
| rot: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 1.0 |
| - prim_path: /World/envs/env_.*/Robot/panda_leftfinger |
| name: tool_leftfinger |
| offset: |
| pos: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.046 |
| rot: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 1.0 |
| visualizer_cfg: |
| prim_path: /Visuals/FrameTransformer |
| markers: |
| frame: |
| func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| spawn_path: null |
| mass_props: null |
| deformable_props: null |
| rigid_props: null |
| collision_props: null |
| activate_contact_sensors: false |
| scale: !!python/tuple |
| - 0.1 |
| - 0.1 |
| - 0.1 |
| 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-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd |
| variants: null |
| connecting_line: |
| func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| spawn_path: null |
| mass_props: null |
| rigid_props: null |
| collision_props: null |
| activate_contact_sensors: false |
| visual_material_path: material |
| visual_material: |
| func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface |
| diffuse_color: !!python/tuple |
| - 1.0 |
| - 1.0 |
| - 0.0 |
| emissive_color: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| roughness: 1.0 |
| metallic: 0.0 |
| opacity: 1.0 |
| physics_material_path: material |
| physics_material: null |
| radius: 0.002 |
| height: 1.0 |
| axis: Z |
| recorders: |
| dataset_file_handler_class_type: isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler |
| dataset_export_dir_path: /tmp/isaaclab/logs |
| dataset_filename: dataset_20260403_034228_rank0 |
| dataset_export_mode: |
| _value_: 1 |
| _name_: EXPORT_ALL |
| _sort_order_: 1 |
| export_in_record_pre_reset: true |
| export_in_close: false |
| success_rate: |
| class_type: isaaclab_arena.metrics.success_rate:SuccessRecorder |
| name: success |
| observations: |
| policy: |
| concatenate_terms: true |
| concatenate_dim: -1 |
| enable_corruption: false |
| history_length: null |
| flatten_history_dim: true |
| actions: |
| func: isaaclab.envs.mdp.observations:last_action |
| params: {} |
| modifiers: null |
| noise: null |
| clip: null |
| scale: null |
| history_length: 0 |
| flatten_history_dim: true |
| joint_pos: |
| func: isaaclab.envs.mdp.observations:joint_pos_rel |
| params: {} |
| modifiers: null |
| noise: null |
| clip: null |
| scale: null |
| history_length: 0 |
| flatten_history_dim: true |
| joint_vel: |
| func: isaaclab.envs.mdp.observations:joint_vel_rel |
| params: {} |
| modifiers: null |
| noise: null |
| clip: null |
| scale: null |
| history_length: 0 |
| flatten_history_dim: true |
| eef_pos: |
| func: isaaclab_tasks.manager_based.manipulation.stack.mdp.observations:ee_frame_pos |
| params: {} |
| modifiers: null |
| noise: null |
| clip: null |
| scale: null |
| history_length: 0 |
| flatten_history_dim: true |
| eef_quat: |
| func: isaaclab_tasks.manager_based.manipulation.stack.mdp.observations:ee_frame_quat |
| params: {} |
| modifiers: null |
| noise: null |
| clip: null |
| scale: null |
| history_length: 0 |
| flatten_history_dim: true |
| gripper_pos: |
| func: isaaclab_arena.embodiments.franka.observations:gripper_pos |
| params: {} |
| modifiers: null |
| noise: null |
| clip: null |
| scale: null |
| history_length: 0 |
| flatten_history_dim: true |
| task_obs: |
| concatenate_terms: true |
| concatenate_dim: -1 |
| enable_corruption: false |
| history_length: null |
| flatten_history_dim: true |
| target_object_position: |
| func: isaaclab.envs.mdp.observations:generated_commands |
| params: |
| command_name: object_pose |
| modifiers: null |
| noise: null |
| clip: null |
| scale: null |
| history_length: 0 |
| flatten_history_dim: true |
| object_position: |
| func: isaaclab_arena.tasks.observations.observations:object_position_in_frame |
| params: |
| root_frame_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: 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 |
| object_cfg: |
| name: dex_cube |
| 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 |
| modifiers: null |
| noise: null |
| clip: null |
| scale: null |
| history_length: 0 |
| flatten_history_dim: true |
| actions: |
| arm_action: |
| class_type: isaaclab.envs.mdp.actions.joint_actions:JointPositionAction |
| asset_name: robot |
| debug_vis: false |
| clip: null |
| joint_names: |
| - panda_joint.* |
| scale: 0.5 |
| offset: 0.0 |
| preserve_order: false |
| use_default_offset: true |
| gripper_action: |
| class_type: isaaclab.envs.mdp.actions.binary_joint_actions:BinaryJointPositionAction |
| asset_name: robot |
| debug_vis: false |
| clip: null |
| joint_names: |
| - panda_finger.* |
| open_command_expr: |
| panda_finger_.*: 0.04 |
| close_command_expr: |
| panda_finger_.*: 0.0 |
| events: |
| init_franka_arm_pose: |
| func: isaaclab_tasks.manager_based.manipulation.stack.mdp.franka_stack_events:set_default_joint_pose |
| params: |
| default_pose: |
| - 0.0 |
| - -0.785 |
| - -0.1107 |
| - -1.1775 |
| - 0.0 |
| - 0.785 |
| - 0.785 |
| - 0.04 |
| - 0.04 |
| mode: reset |
| interval_range_s: null |
| is_global_time: false |
| min_step_count_between_reset: 0 |
| randomize_franka_joint_state: |
| func: isaaclab_tasks.manager_based.manipulation.stack.mdp.franka_stack_events:randomize_joint_by_gaussian_offset |
| params: |
| mean: 0.0 |
| std: 0.02 |
| 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: 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 |
| mode: reset |
| interval_range_s: null |
| is_global_time: false |
| min_step_count_between_reset: 0 |
| dex_cube: |
| func: isaaclab_arena.terms.events:set_object_pose |
| params: |
| pose: |
| position_xyz: !!python/tuple |
| - 0.5 |
| - 0 |
| - 0.055 |
| rotation_xyzw: !!python/tuple |
| - 0 |
| - 0 |
| - 0 |
| - 1 |
| asset_cfg: |
| name: dex_cube |
| 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 |
| velocity: null |
| mode: reset |
| interval_range_s: null |
| is_global_time: false |
| min_step_count_between_reset: 0 |
| rerender_on_reset: false |
| num_rerenders_on_reset: 0 |
| wait_for_textures: false |
| xr: null |
| teleop_devices: null |
| isaac_teleop: null |
| export_io_descriptors: false |
| log_dir: /workspaces/isaaclab_arena/logs/rsl_rl/generic_experiment/2026-04-03_03-42-29 |
| is_finite_horizon: false |
| episode_length_s: 5.0 |
| rewards: |
| action_rate: |
| func: isaaclab.envs.mdp.rewards:action_rate_l2 |
| params: {} |
| weight: -0.0001 |
| joint_vel: |
| func: isaaclab.envs.mdp.rewards:joint_vel_l2 |
| 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: 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 |
| weight: -0.0001 |
| reaching_object: |
| func: isaaclab_arena.tasks.rewards.rewards:object_ee_distance |
| params: |
| std: 0.1 |
| object_cfg: |
| name: dex_cube |
| 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 |
| ee_frame_cfg: |
| name: ee_frame |
| 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 |
| weight: 1.0 |
| lifting_object: |
| func: isaaclab_arena.tasks.rewards.lift_object_rewards:object_is_lifted |
| params: |
| object_cfg: |
| name: dex_cube |
| 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 |
| minimal_height: 0.04 |
| weight: 15.0 |
| object_goal_tracking: |
| func: isaaclab_arena.tasks.rewards.lift_object_rewards:object_goal_distance |
| params: |
| std: 0.3 |
| minimal_height: 0.04 |
| command_name: object_pose |
| robot_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: 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 |
| object_cfg: |
| name: dex_cube |
| 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 |
| weight: 16.0 |
| object_goal_tracking_fine_grained: |
| func: isaaclab_arena.tasks.rewards.lift_object_rewards:object_goal_distance |
| params: |
| std: 0.05 |
| minimal_height: 0.04 |
| command_name: object_pose |
| robot_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: 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 |
| object_cfg: |
| name: dex_cube |
| 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 |
| weight: 5.0 |
| terminations: |
| time_out: |
| func: isaaclab.envs.mdp.terminations:time_out |
| params: {} |
| time_out: false |
| object_dropped: |
| func: isaaclab.envs.mdp.terminations:root_height_below_minimum |
| params: |
| minimum_height: -0.05 |
| asset_cfg: |
| name: dex_cube |
| 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 |
| time_out: false |
| success: |
| func: isaaclab_arena.tasks.terminations:lift_object_rl_success |
| params: |
| object_cfg: |
| name: dex_cube |
| 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 |
| robot_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: 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 |
| rl_training: true |
| command_name: object_pose |
| position_tolerance: 0.05 |
| time_out: false |
| curriculum: {} |
| commands: |
| object_pose: |
| class_type: isaaclab.envs.mdp.commands.pose_command:UniformPoseCommand |
| resampling_time_range: !!python/tuple |
| - 5.0 |
| - 5.0 |
| debug_vis: true |
| asset_name: robot |
| body_name: panda_hand |
| make_quat_unique: false |
| ranges: |
| pos_x: !!python/tuple |
| - 0.4 |
| - 0.6 |
| pos_y: !!python/tuple |
| - -0.25 |
| - 0.25 |
| pos_z: !!python/tuple |
| - 0.255 |
| - 0.455 |
| roll: !!python/tuple |
| - 0.0 |
| - 0.0 |
| pitch: !!python/tuple |
| - 0.0 |
| - 0.0 |
| yaw: !!python/tuple |
| - 0.0 |
| - 0.0 |
| goal_pose_visualizer_cfg: |
| prim_path: /Visuals/Command/goal_pose |
| markers: |
| frame: |
| func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| spawn_path: null |
| mass_props: null |
| deformable_props: null |
| rigid_props: null |
| collision_props: null |
| activate_contact_sensors: false |
| scale: !!python/tuple |
| - 0.1 |
| - 0.1 |
| - 0.1 |
| 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-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd |
| variants: null |
| connecting_line: |
| func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| spawn_path: null |
| mass_props: null |
| rigid_props: null |
| collision_props: null |
| activate_contact_sensors: false |
| visual_material_path: material |
| visual_material: |
| func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface |
| diffuse_color: !!python/tuple |
| - 1.0 |
| - 1.0 |
| - 0.0 |
| emissive_color: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| roughness: 1.0 |
| metallic: 0.0 |
| opacity: 1.0 |
| physics_material_path: material |
| physics_material: null |
| radius: 0.002 |
| height: 1.0 |
| axis: Z |
| current_pose_visualizer_cfg: |
| prim_path: /Visuals/Command/body_pose |
| markers: |
| frame: |
| func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| spawn_path: null |
| mass_props: null |
| deformable_props: null |
| rigid_props: null |
| collision_props: null |
| activate_contact_sensors: false |
| scale: !!python/tuple |
| - 0.1 |
| - 0.1 |
| - 0.1 |
| 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-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd |
| variants: null |
| connecting_line: |
| func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| spawn_path: null |
| mass_props: null |
| rigid_props: null |
| collision_props: null |
| activate_contact_sensors: false |
| visual_material_path: material |
| visual_material: |
| func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface |
| diffuse_color: !!python/tuple |
| - 1.0 |
| - 1.0 |
| - 0.0 |
| emissive_color: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| roughness: 1.0 |
| metallic: 0.0 |
| opacity: 1.0 |
| physics_material_path: material |
| physics_material: null |
| radius: 0.002 |
| height: 1.0 |
| axis: Z |
| metrics: |
| - {} |
| isaaclab_arena_env: |
| name: lift_object |
| scene: |
| assets: |
| table: |
| name: table |
| tags: |
| - background |
| prim_path: '{ENV_REGEX_NS}/table' |
| object_type: |
| _value_: base |
| _name_: BASE |
| _sort_order_: 0 |
| initial_pose: |
| position_xyz: !!python/tuple |
| - 0.5 |
| - 0 |
| - 0 |
| rotation_xyzw: !!python/tuple |
| - 0 |
| - 0 |
| - 0.707 |
| - 0.707 |
| initial_velocity: null |
| object_cfg: |
| class_type: null |
| prim_path: '{ENV_REGEX_NS}/table' |
| spawn: |
| func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| spawn_path: null |
| mass_props: null |
| deformable_props: null |
| rigid_props: null |
| collision_props: null |
| activate_contact_sensors: false |
| scale: !!python/tuple |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| 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-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/Mounts/SeattleLabTable/table_instanceable.usd |
| variants: null |
| init_state: |
| pos: !!python/tuple |
| - 0.5 |
| - 0 |
| - 0 |
| rot: !!python/tuple |
| - 0 |
| - 0 |
| - 0.707 |
| - 0.707 |
| collision_group: 0 |
| debug_vis: false |
| event_cfg: null |
| relations: [] |
| usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/Mounts/SeattleLabTable/table_instanceable.usd |
| scale: !!python/tuple |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| reset_pose: true |
| spawn_cfg_addon: {} |
| asset_cfg_addon: {} |
| bounding_box: null |
| object_min_z: -0.05 |
| dex_cube: |
| name: dex_cube |
| tags: |
| - object |
| prim_path: '{ENV_REGEX_NS}/dex_cube' |
| object_type: |
| _value_: rigid |
| _name_: RIGID |
| _sort_order_: 1 |
| initial_pose: |
| position_xyz: !!python/tuple |
| - 0.5 |
| - 0 |
| - 0.055 |
| rotation_xyzw: !!python/tuple |
| - 0 |
| - 0 |
| - 0 |
| - 1 |
| initial_velocity: null |
| object_cfg: |
| class_type: isaaclab.assets.rigid_object.rigid_object:RigidObject |
| prim_path: '{ENV_REGEX_NS}/dex_cube' |
| spawn: |
| func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| spawn_path: null |
| mass_props: null |
| deformable_props: null |
| rigid_props: null |
| collision_props: null |
| activate_contact_sensors: true |
| scale: !!python/tuple |
| - 0.8 |
| - 0.8 |
| - 0.8 |
| 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-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/Blocks/DexCube/dex_cube_instanceable.usd |
| variants: null |
| init_state: |
| pos: !!python/tuple |
| - 0.5 |
| - 0 |
| - 0.055 |
| rot: !!python/tuple |
| - 0 |
| - 0 |
| - 0 |
| - 1 |
| lin_vel: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| ang_vel: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| collision_group: 0 |
| debug_vis: false |
| event_cfg: |
| func: isaaclab_arena.terms.events:set_object_pose |
| params: |
| pose: |
| position_xyz: !!python/tuple |
| - 0.5 |
| - 0 |
| - 0.055 |
| rotation_xyzw: !!python/tuple |
| - 0 |
| - 0 |
| - 0 |
| - 1 |
| asset_cfg: |
| name: dex_cube |
| joint_names: null |
| joint_ids: &id001 !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| fixed_tendon_names: null |
| fixed_tendon_ids: &id002 !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: &id003 !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| object_collection_names: null |
| object_collection_ids: &id004 !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| velocity: null |
| mode: reset |
| interval_range_s: null |
| is_global_time: false |
| min_step_count_between_reset: 0 |
| relations: [] |
| usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/Blocks/DexCube/dex_cube_instanceable.usd |
| scale: !!python/tuple |
| - 0.8 |
| - 0.8 |
| - 0.8 |
| reset_pose: true |
| spawn_cfg_addon: {} |
| asset_cfg_addon: {} |
| bounding_box: null |
| ground_plane: |
| spawner_cfg: |
| func: isaaclab.sim.spawners.from_files.from_files:spawn_ground_plane |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| spawn_path: null |
| usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Environments/Grid/default_environment.usd |
| color: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| size: !!python/tuple |
| - 100.0 |
| - 100.0 |
| physics_material: |
| func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material |
| static_friction: 0.5 |
| dynamic_friction: 0.5 |
| restitution: 0.0 |
| friction_combine_mode: average |
| restitution_combine_mode: average |
| compliant_contact_stiffness: 0.0 |
| compliant_contact_damping: 0.0 |
| name: ground_plane |
| tags: |
| - ground_plane |
| prim_path: /World/GroundPlane |
| object_type: |
| _value_: spawner |
| _name_: SPAWNER |
| _sort_order_: 3 |
| initial_pose: |
| position_xyz: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - -1.05 |
| rotation_xyzw: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 1.0 |
| initial_velocity: null |
| object_cfg: |
| class_type: null |
| prim_path: /World/GroundPlane |
| spawn: |
| func: isaaclab.sim.spawners.from_files.from_files:spawn_ground_plane |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| spawn_path: null |
| usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Environments/Grid/default_environment.usd |
| color: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| size: !!python/tuple |
| - 100.0 |
| - 100.0 |
| physics_material: |
| func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material |
| static_friction: 0.5 |
| dynamic_friction: 0.5 |
| restitution: 0.0 |
| friction_combine_mode: average |
| restitution_combine_mode: average |
| compliant_contact_stiffness: 0.0 |
| compliant_contact_damping: 0.0 |
| init_state: |
| pos: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - -1.05 |
| rot: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 1.0 |
| collision_group: 0 |
| debug_vis: false |
| event_cfg: null |
| relations: [] |
| usd_path: null |
| scale: !!python/tuple |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| reset_pose: true |
| spawn_cfg_addon: {} |
| asset_cfg_addon: {} |
| bounding_box: null |
| light: |
| spawner_cfg: |
| func: isaaclab.sim.spawners.lights.lights:spawn_light |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| spawn_path: null |
| prim_type: DomeLight |
| color: !!python/tuple |
| - 0.75 |
| - 0.75 |
| - 0.75 |
| enable_color_temperature: false |
| color_temperature: 6500.0 |
| normalize: false |
| exposure: 0.0 |
| intensity: 3000.0 |
| texture_file: null |
| texture_format: automatic |
| visible_in_primary_ray: true |
| name: light |
| tags: |
| - light |
| prim_path: /World/Light |
| object_type: |
| _value_: spawner |
| _name_: SPAWNER |
| _sort_order_: 3 |
| initial_pose: null |
| initial_velocity: null |
| object_cfg: |
| class_type: null |
| prim_path: /World/Light |
| spawn: |
| func: isaaclab.sim.spawners.lights.lights:spawn_light |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| spawn_path: null |
| prim_type: DomeLight |
| color: !!python/tuple |
| - 0.75 |
| - 0.75 |
| - 0.75 |
| enable_color_temperature: false |
| color_temperature: 6500.0 |
| normalize: false |
| exposure: 0.0 |
| intensity: 3000.0 |
| texture_file: null |
| texture_format: automatic |
| visible_in_primary_ray: true |
| init_state: |
| pos: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| rot: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 1.0 |
| collision_group: 0 |
| debug_vis: false |
| event_cfg: null |
| relations: [] |
| usd_path: null |
| scale: !!python/tuple |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| reset_pose: true |
| spawn_cfg_addon: {} |
| asset_cfg_addon: {} |
| bounding_box: null |
| observation_cfg: null |
| events_cfg: null |
| termination_cfg: null |
| rewards_cfg: null |
| curriculum_cfg: null |
| commands_cfg: null |
| embodiment: |
| enable_cameras: false |
| initial_pose: null |
| concatenate_observation_terms: true |
| arm_mode: |
| _value_: single_arm |
| _name_: SINGLE_ARM |
| _sort_order_: 0 |
| scene_config: |
| robot: |
| class_type: isaaclab.assets.articulation.articulation:Articulation |
| prim_path: '{ENV_REGEX_NS}/Robot' |
| spawn: |
| func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| spawn_path: null |
| mass_props: null |
| deformable_props: null |
| rigid_props: |
| rigid_body_enabled: null |
| kinematic_enabled: null |
| disable_gravity: false |
| linear_damping: null |
| angular_damping: null |
| max_linear_velocity: null |
| max_angular_velocity: null |
| max_depenetration_velocity: 5.0 |
| max_contact_impulse: null |
| enable_gyroscopic_forces: null |
| retain_accelerations: null |
| solver_position_iteration_count: null |
| solver_velocity_iteration_count: null |
| sleep_threshold: null |
| stabilization_threshold: null |
| collision_props: null |
| activate_contact_sensors: false |
| scale: null |
| articulation_props: |
| articulation_enabled: null |
| enabled_self_collisions: true |
| solver_position_iteration_count: 8 |
| solver_velocity_iteration_count: 0 |
| 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-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/IsaacLab/Arena/assets/robot_library/franka_panda_hand_on_stand.usd |
| variants: null |
| init_state: |
| pos: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| rot: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 1.0 |
| lin_vel: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| ang_vel: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| joint_pos: |
| panda_joint1: 0.0 |
| panda_joint2: -0.569 |
| panda_joint3: 0.0 |
| panda_joint4: -2.81 |
| panda_joint5: 0.0 |
| panda_joint6: 3.037 |
| panda_joint7: 0.741 |
| panda_finger_joint.*: 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_shoulder: |
| class_type: isaaclab.actuators.actuator_pd:ImplicitActuator |
| joint_names_expr: |
| - panda_joint[1-4] |
| effort_limit: null |
| velocity_limit: null |
| effort_limit_sim: 87.0 |
| velocity_limit_sim: null |
| stiffness: 80.0 |
| damping: 4.0 |
| armature: 0.001 |
| friction: null |
| dynamic_friction: null |
| viscous_friction: null |
| panda_forearm: |
| class_type: isaaclab.actuators.actuator_pd:ImplicitActuator |
| joint_names_expr: |
| - panda_joint[5-7] |
| effort_limit: null |
| velocity_limit: null |
| effort_limit_sim: 12.0 |
| velocity_limit_sim: null |
| stiffness: 80.0 |
| damping: 4.0 |
| armature: 0.001 |
| friction: null |
| dynamic_friction: null |
| viscous_friction: null |
| panda_hand: |
| class_type: isaaclab.actuators.actuator_pd:ImplicitActuator |
| joint_names_expr: |
| - panda_finger_joint.* |
| effort_limit: null |
| velocity_limit: null |
| effort_limit_sim: 200.0 |
| velocity_limit_sim: null |
| stiffness: 2000.0 |
| damping: 100.0 |
| armature: null |
| friction: null |
| dynamic_friction: null |
| viscous_friction: null |
| actuator_value_resolution_debug_print: false |
| ee_frame: |
| class_type: isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer |
| prim_path: '{ENV_REGEX_NS}/Robot/panda_link0' |
| update_period: 0.0 |
| debug_vis: false |
| source_frame_offset: |
| pos: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| rot: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 1.0 |
| target_frames: |
| - prim_path: '{ENV_REGEX_NS}/Robot/panda_hand' |
| name: end_effector |
| offset: |
| pos: |
| - 0.0 |
| - 0.0 |
| - 0.1034 |
| rot: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 1.0 |
| - prim_path: '{ENV_REGEX_NS}/Robot/panda_rightfinger' |
| name: tool_rightfinger |
| offset: |
| pos: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.046 |
| rot: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 1.0 |
| - prim_path: '{ENV_REGEX_NS}/Robot/panda_leftfinger' |
| name: tool_leftfinger |
| offset: |
| pos: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.046 |
| rot: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 1.0 |
| visualizer_cfg: |
| prim_path: /Visuals/FrameTransformer |
| markers: |
| frame: |
| func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| spawn_path: null |
| mass_props: null |
| deformable_props: null |
| rigid_props: null |
| collision_props: null |
| activate_contact_sensors: false |
| scale: !!python/tuple |
| - 0.1 |
| - 0.1 |
| - 0.1 |
| 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-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd |
| variants: null |
| connecting_line: |
| func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| spawn_path: null |
| mass_props: null |
| rigid_props: null |
| collision_props: null |
| activate_contact_sensors: false |
| visual_material_path: material |
| visual_material: |
| func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface |
| diffuse_color: !!python/tuple |
| - 1.0 |
| - 1.0 |
| - 0.0 |
| emissive_color: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| roughness: 1.0 |
| metallic: 0.0 |
| opacity: 1.0 |
| physics_material_path: material |
| physics_material: null |
| radius: 0.002 |
| height: 1.0 |
| axis: Z |
| camera_config: |
| wrist_cam: |
| class_type: isaaclab.sensors.camera.camera:Camera |
| prim_path: '{ENV_REGEX_NS}/Robot/panda_hand/wrist_cam' |
| update_period: 0.0 |
| debug_vis: false |
| offset: |
| pos: !!python/tuple |
| - 0.11 |
| - -0.031 |
| - -0.074 |
| rot: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - -0.66262 |
| - -0.74896 |
| convention: ros |
| spawn: |
| func: isaaclab.sim.spawners.sensors.sensors:spawn_camera |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| spawn_path: null |
| projection_type: pinhole |
| clipping_range: !!python/tuple |
| - 0.01 |
| - 1000000.0 |
| focal_length: 2.8 |
| focus_distance: 28 |
| f_stop: 0.0 |
| horizontal_aperture: 5.376 |
| vertical_aperture: 3.024 |
| horizontal_aperture_offset: 0.0 |
| vertical_aperture_offset: 0.0 |
| lock_camera: true |
| depth_clipping_behavior: none |
| data_types: |
| - rgb |
| width: 84 |
| height: 84 |
| update_latest_camera_pose: false |
| semantic_filter: '*:*' |
| colorize_semantic_segmentation: true |
| colorize_instance_id_segmentation: true |
| colorize_instance_segmentation: true |
| semantic_segmentation_mapping: {} |
| renderer_cfg: |
| renderer_type: isaac_rtx |
| _is_tiled_camera: false |
| _camera_offset: |
| position_xyz: !!python/tuple |
| - 0.11 |
| - -0.031 |
| - -0.074 |
| rotation_xyzw: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - -0.66262 |
| - -0.74896 |
| action_config: |
| arm_action: |
| class_type: isaaclab.envs.mdp.actions.joint_actions:JointPositionAction |
| asset_name: robot |
| debug_vis: false |
| clip: null |
| joint_names: |
| - panda_joint.* |
| scale: 0.5 |
| offset: 0.0 |
| preserve_order: false |
| use_default_offset: true |
| gripper_action: |
| class_type: isaaclab.envs.mdp.actions.binary_joint_actions:BinaryJointPositionAction |
| asset_name: robot |
| debug_vis: false |
| clip: null |
| joint_names: |
| - panda_finger.* |
| open_command_expr: |
| panda_finger_.*: 0.04 |
| close_command_expr: |
| panda_finger_.*: 0.0 |
| observation_config: |
| policy: |
| concatenate_terms: true |
| concatenate_dim: -1 |
| enable_corruption: false |
| history_length: null |
| flatten_history_dim: true |
| actions: |
| func: isaaclab.envs.mdp.observations:last_action |
| params: {} |
| modifiers: null |
| noise: null |
| clip: null |
| scale: null |
| history_length: 0 |
| flatten_history_dim: true |
| joint_pos: |
| func: isaaclab.envs.mdp.observations:joint_pos_rel |
| params: {} |
| modifiers: null |
| noise: null |
| clip: null |
| scale: null |
| history_length: 0 |
| flatten_history_dim: true |
| joint_vel: |
| func: isaaclab.envs.mdp.observations:joint_vel_rel |
| params: {} |
| modifiers: null |
| noise: null |
| clip: null |
| scale: null |
| history_length: 0 |
| flatten_history_dim: true |
| eef_pos: |
| func: isaaclab_tasks.manager_based.manipulation.stack.mdp.observations:ee_frame_pos |
| params: {} |
| modifiers: null |
| noise: null |
| clip: null |
| scale: null |
| history_length: 0 |
| flatten_history_dim: true |
| eef_quat: |
| func: isaaclab_tasks.manager_based.manipulation.stack.mdp.observations:ee_frame_quat |
| params: {} |
| modifiers: null |
| noise: null |
| clip: null |
| scale: null |
| history_length: 0 |
| flatten_history_dim: true |
| gripper_pos: |
| func: isaaclab_arena.embodiments.franka.observations:gripper_pos |
| params: {} |
| modifiers: null |
| noise: null |
| clip: null |
| scale: null |
| history_length: 0 |
| flatten_history_dim: true |
| event_config: |
| init_franka_arm_pose: |
| func: isaaclab_tasks.manager_based.manipulation.stack.mdp.franka_stack_events:set_default_joint_pose |
| params: |
| default_pose: |
| - 0.0 |
| - -0.785 |
| - -0.1107 |
| - -1.1775 |
| - 0.0 |
| - 0.785 |
| - 0.785 |
| - 0.04 |
| - 0.04 |
| mode: reset |
| interval_range_s: null |
| is_global_time: false |
| min_step_count_between_reset: 0 |
| randomize_franka_joint_state: |
| func: isaaclab_tasks.manager_based.manipulation.stack.mdp.franka_stack_events:randomize_joint_by_gaussian_offset |
| params: |
| mean: 0.0 |
| std: 0.02 |
| asset_cfg: |
| name: robot |
| joint_names: null |
| joint_ids: &id005 !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| fixed_tendon_names: null |
| fixed_tendon_ids: &id006 !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: &id007 !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| object_collection_names: null |
| object_collection_ids: &id008 !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| mode: reset |
| interval_range_s: null |
| is_global_time: false |
| min_step_count_between_reset: 0 |
| reward_config: |
| action_rate: |
| func: isaaclab.envs.mdp.rewards:action_rate_l2 |
| params: {} |
| weight: -0.0001 |
| joint_vel: |
| func: isaaclab.envs.mdp.rewards:joint_vel_l2 |
| params: |
| asset_cfg: |
| name: robot |
| joint_names: null |
| joint_ids: &id009 !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| fixed_tendon_names: null |
| fixed_tendon_ids: &id010 !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: &id011 !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| object_collection_names: null |
| object_collection_ids: &id012 !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| weight: -0.0001 |
| curriculum_config: null |
| command_config: null |
| mimic_env: isaaclab_arena.embodiments.franka.franka:FrankaMimicEnv |
| xr: null |
| termination_cfg: null |
| task: |
| rl_training_mode: true |
| minimum_height_to_lift: 0.04 |
| target_x_range: !!python/tuple |
| - 0.4 |
| - 0.6 |
| target_y_range: !!python/tuple |
| - -0.25 |
| - 0.25 |
| target_z_range: !!python/tuple |
| - 0.255 |
| - 0.455 |
| episode_length_s: 5.0 |
| task_description: null |
| lift_object: |
| name: dex_cube |
| tags: |
| - object |
| prim_path: '{ENV_REGEX_NS}/dex_cube' |
| object_type: |
| _value_: rigid |
| _name_: RIGID |
| _sort_order_: 1 |
| initial_pose: |
| position_xyz: !!python/tuple |
| - 0.5 |
| - 0 |
| - 0.055 |
| rotation_xyzw: !!python/tuple |
| - 0 |
| - 0 |
| - 0 |
| - 1 |
| initial_velocity: null |
| object_cfg: |
| class_type: isaaclab.assets.rigid_object.rigid_object:RigidObject |
| prim_path: '{ENV_REGEX_NS}/dex_cube' |
| spawn: |
| func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| spawn_path: null |
| mass_props: null |
| deformable_props: null |
| rigid_props: null |
| collision_props: null |
| activate_contact_sensors: true |
| scale: !!python/tuple |
| - 0.8 |
| - 0.8 |
| - 0.8 |
| 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-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/Blocks/DexCube/dex_cube_instanceable.usd |
| variants: null |
| init_state: |
| pos: !!python/tuple |
| - 0.5 |
| - 0 |
| - 0.055 |
| rot: !!python/tuple |
| - 0 |
| - 0 |
| - 0 |
| - 1 |
| lin_vel: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| ang_vel: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| collision_group: 0 |
| debug_vis: false |
| event_cfg: |
| func: isaaclab_arena.terms.events:set_object_pose |
| params: |
| pose: |
| position_xyz: !!python/tuple |
| - 0.5 |
| - 0 |
| - 0.055 |
| rotation_xyzw: !!python/tuple |
| - 0 |
| - 0 |
| - 0 |
| - 1 |
| asset_cfg: |
| name: dex_cube |
| joint_names: null |
| joint_ids: *id001 |
| fixed_tendon_names: null |
| fixed_tendon_ids: *id002 |
| body_names: null |
| body_ids: *id003 |
| object_collection_names: null |
| object_collection_ids: *id004 |
| preserve_order: false |
| velocity: null |
| mode: reset |
| interval_range_s: null |
| is_global_time: false |
| min_step_count_between_reset: 0 |
| relations: [] |
| usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/Blocks/DexCube/dex_cube_instanceable.usd |
| scale: !!python/tuple |
| - 0.8 |
| - 0.8 |
| - 0.8 |
| reset_pose: true |
| spawn_cfg_addon: {} |
| asset_cfg_addon: {} |
| bounding_box: null |
| background_scene: |
| name: table |
| tags: |
| - background |
| prim_path: '{ENV_REGEX_NS}/table' |
| object_type: |
| _value_: base |
| _name_: BASE |
| _sort_order_: 0 |
| initial_pose: |
| position_xyz: !!python/tuple |
| - 0.5 |
| - 0 |
| - 0 |
| rotation_xyzw: !!python/tuple |
| - 0 |
| - 0 |
| - 0.707 |
| - 0.707 |
| initial_velocity: null |
| object_cfg: |
| class_type: null |
| prim_path: '{ENV_REGEX_NS}/table' |
| spawn: |
| func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| spawn_path: null |
| mass_props: null |
| deformable_props: null |
| rigid_props: null |
| collision_props: null |
| activate_contact_sensors: false |
| scale: !!python/tuple |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| 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-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/Mounts/SeattleLabTable/table_instanceable.usd |
| variants: null |
| init_state: |
| pos: !!python/tuple |
| - 0.5 |
| - 0 |
| - 0 |
| rot: !!python/tuple |
| - 0 |
| - 0 |
| - 0.707 |
| - 0.707 |
| collision_group: 0 |
| debug_vis: false |
| event_cfg: null |
| relations: [] |
| usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/Mounts/SeattleLabTable/table_instanceable.usd |
| scale: !!python/tuple |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| reset_pose: true |
| spawn_cfg_addon: {} |
| asset_cfg_addon: {} |
| bounding_box: null |
| object_min_z: -0.05 |
| goal_position_xyz: !!python/tuple |
| - 0.5 |
| - 0 |
| - 0.055 |
| goal_position_tolerance: 0.05 |
| scene_config: null |
| events_cfg: null |
| termination_cfg: |
| time_out: |
| func: isaaclab.envs.mdp.terminations:time_out |
| params: {} |
| time_out: false |
| object_dropped: |
| func: isaaclab.envs.mdp.terminations:root_height_below_minimum |
| params: |
| minimum_height: -0.05 |
| asset_cfg: |
| name: dex_cube |
| 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 |
| time_out: false |
| success: |
| func: isaaclab_arena.tasks.terminations:lift_object_rl_success |
| params: |
| object_cfg: |
| name: dex_cube |
| 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 |
| robot_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: 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 |
| rl_training: true |
| command_name: object_pose |
| position_tolerance: 0.05 |
| time_out: false |
| embodiment: |
| enable_cameras: false |
| initial_pose: null |
| concatenate_observation_terms: true |
| arm_mode: |
| _value_: single_arm |
| _name_: SINGLE_ARM |
| _sort_order_: 0 |
| scene_config: |
| robot: |
| class_type: isaaclab.assets.articulation.articulation:Articulation |
| prim_path: '{ENV_REGEX_NS}/Robot' |
| spawn: |
| func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| spawn_path: null |
| mass_props: null |
| deformable_props: null |
| rigid_props: |
| rigid_body_enabled: null |
| kinematic_enabled: null |
| disable_gravity: false |
| linear_damping: null |
| angular_damping: null |
| max_linear_velocity: null |
| max_angular_velocity: null |
| max_depenetration_velocity: 5.0 |
| max_contact_impulse: null |
| enable_gyroscopic_forces: null |
| retain_accelerations: null |
| solver_position_iteration_count: null |
| solver_velocity_iteration_count: null |
| sleep_threshold: null |
| stabilization_threshold: null |
| collision_props: null |
| activate_contact_sensors: false |
| scale: null |
| articulation_props: |
| articulation_enabled: null |
| enabled_self_collisions: true |
| solver_position_iteration_count: 8 |
| solver_velocity_iteration_count: 0 |
| 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-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/IsaacLab/Arena/assets/robot_library/franka_panda_hand_on_stand.usd |
| variants: null |
| init_state: |
| pos: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| rot: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 1.0 |
| lin_vel: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| ang_vel: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| joint_pos: |
| panda_joint1: 0.0 |
| panda_joint2: -0.569 |
| panda_joint3: 0.0 |
| panda_joint4: -2.81 |
| panda_joint5: 0.0 |
| panda_joint6: 3.037 |
| panda_joint7: 0.741 |
| panda_finger_joint.*: 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_shoulder: |
| class_type: isaaclab.actuators.actuator_pd:ImplicitActuator |
| joint_names_expr: |
| - panda_joint[1-4] |
| effort_limit: null |
| velocity_limit: null |
| effort_limit_sim: 87.0 |
| velocity_limit_sim: null |
| stiffness: 80.0 |
| damping: 4.0 |
| armature: 0.001 |
| friction: null |
| dynamic_friction: null |
| viscous_friction: null |
| panda_forearm: |
| class_type: isaaclab.actuators.actuator_pd:ImplicitActuator |
| joint_names_expr: |
| - panda_joint[5-7] |
| effort_limit: null |
| velocity_limit: null |
| effort_limit_sim: 12.0 |
| velocity_limit_sim: null |
| stiffness: 80.0 |
| damping: 4.0 |
| armature: 0.001 |
| friction: null |
| dynamic_friction: null |
| viscous_friction: null |
| panda_hand: |
| class_type: isaaclab.actuators.actuator_pd:ImplicitActuator |
| joint_names_expr: |
| - panda_finger_joint.* |
| effort_limit: null |
| velocity_limit: null |
| effort_limit_sim: 200.0 |
| velocity_limit_sim: null |
| stiffness: 2000.0 |
| damping: 100.0 |
| armature: null |
| friction: null |
| dynamic_friction: null |
| viscous_friction: null |
| actuator_value_resolution_debug_print: false |
| ee_frame: |
| class_type: isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer |
| prim_path: '{ENV_REGEX_NS}/Robot/panda_link0' |
| update_period: 0.0 |
| debug_vis: false |
| source_frame_offset: |
| pos: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| rot: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 1.0 |
| target_frames: |
| - prim_path: '{ENV_REGEX_NS}/Robot/panda_hand' |
| name: end_effector |
| offset: |
| pos: |
| - 0.0 |
| - 0.0 |
| - 0.1034 |
| rot: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 1.0 |
| - prim_path: '{ENV_REGEX_NS}/Robot/panda_rightfinger' |
| name: tool_rightfinger |
| offset: |
| pos: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.046 |
| rot: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 1.0 |
| - prim_path: '{ENV_REGEX_NS}/Robot/panda_leftfinger' |
| name: tool_leftfinger |
| offset: |
| pos: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.046 |
| rot: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 1.0 |
| visualizer_cfg: |
| prim_path: /Visuals/FrameTransformer |
| markers: |
| frame: |
| func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| spawn_path: null |
| mass_props: null |
| deformable_props: null |
| rigid_props: null |
| collision_props: null |
| activate_contact_sensors: false |
| scale: !!python/tuple |
| - 0.1 |
| - 0.1 |
| - 0.1 |
| 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-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd |
| variants: null |
| connecting_line: |
| func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| spawn_path: null |
| mass_props: null |
| rigid_props: null |
| collision_props: null |
| activate_contact_sensors: false |
| visual_material_path: material |
| visual_material: |
| func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface |
| diffuse_color: !!python/tuple |
| - 1.0 |
| - 1.0 |
| - 0.0 |
| emissive_color: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| roughness: 1.0 |
| metallic: 0.0 |
| opacity: 1.0 |
| physics_material_path: material |
| physics_material: null |
| radius: 0.002 |
| height: 1.0 |
| axis: Z |
| camera_config: |
| wrist_cam: |
| class_type: isaaclab.sensors.camera.camera:Camera |
| prim_path: '{ENV_REGEX_NS}/Robot/panda_hand/wrist_cam' |
| update_period: 0.0 |
| debug_vis: false |
| offset: |
| pos: !!python/tuple |
| - 0.11 |
| - -0.031 |
| - -0.074 |
| rot: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - -0.66262 |
| - -0.74896 |
| convention: ros |
| spawn: |
| func: isaaclab.sim.spawners.sensors.sensors:spawn_camera |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| spawn_path: null |
| projection_type: pinhole |
| clipping_range: !!python/tuple |
| - 0.01 |
| - 1000000.0 |
| focal_length: 2.8 |
| focus_distance: 28 |
| f_stop: 0.0 |
| horizontal_aperture: 5.376 |
| vertical_aperture: 3.024 |
| horizontal_aperture_offset: 0.0 |
| vertical_aperture_offset: 0.0 |
| lock_camera: true |
| depth_clipping_behavior: none |
| data_types: |
| - rgb |
| width: 84 |
| height: 84 |
| update_latest_camera_pose: false |
| semantic_filter: '*:*' |
| colorize_semantic_segmentation: true |
| colorize_instance_id_segmentation: true |
| colorize_instance_segmentation: true |
| semantic_segmentation_mapping: {} |
| renderer_cfg: |
| renderer_type: isaac_rtx |
| _is_tiled_camera: false |
| _camera_offset: |
| position_xyz: !!python/tuple |
| - 0.11 |
| - -0.031 |
| - -0.074 |
| rotation_xyzw: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - -0.66262 |
| - -0.74896 |
| action_config: |
| arm_action: |
| class_type: isaaclab.envs.mdp.actions.joint_actions:JointPositionAction |
| asset_name: robot |
| debug_vis: false |
| clip: null |
| joint_names: |
| - panda_joint.* |
| scale: 0.5 |
| offset: 0.0 |
| preserve_order: false |
| use_default_offset: true |
| gripper_action: |
| class_type: isaaclab.envs.mdp.actions.binary_joint_actions:BinaryJointPositionAction |
| asset_name: robot |
| debug_vis: false |
| clip: null |
| joint_names: |
| - panda_finger.* |
| open_command_expr: |
| panda_finger_.*: 0.04 |
| close_command_expr: |
| panda_finger_.*: 0.0 |
| observation_config: |
| policy: |
| concatenate_terms: true |
| concatenate_dim: -1 |
| enable_corruption: false |
| history_length: null |
| flatten_history_dim: true |
| actions: |
| func: isaaclab.envs.mdp.observations:last_action |
| params: {} |
| modifiers: null |
| noise: null |
| clip: null |
| scale: null |
| history_length: 0 |
| flatten_history_dim: true |
| joint_pos: |
| func: isaaclab.envs.mdp.observations:joint_pos_rel |
| params: {} |
| modifiers: null |
| noise: null |
| clip: null |
| scale: null |
| history_length: 0 |
| flatten_history_dim: true |
| joint_vel: |
| func: isaaclab.envs.mdp.observations:joint_vel_rel |
| params: {} |
| modifiers: null |
| noise: null |
| clip: null |
| scale: null |
| history_length: 0 |
| flatten_history_dim: true |
| eef_pos: |
| func: isaaclab_tasks.manager_based.manipulation.stack.mdp.observations:ee_frame_pos |
| params: {} |
| modifiers: null |
| noise: null |
| clip: null |
| scale: null |
| history_length: 0 |
| flatten_history_dim: true |
| eef_quat: |
| func: isaaclab_tasks.manager_based.manipulation.stack.mdp.observations:ee_frame_quat |
| params: {} |
| modifiers: null |
| noise: null |
| clip: null |
| scale: null |
| history_length: 0 |
| flatten_history_dim: true |
| gripper_pos: |
| func: isaaclab_arena.embodiments.franka.observations:gripper_pos |
| params: {} |
| modifiers: null |
| noise: null |
| clip: null |
| scale: null |
| history_length: 0 |
| flatten_history_dim: true |
| event_config: |
| init_franka_arm_pose: |
| func: isaaclab_tasks.manager_based.manipulation.stack.mdp.franka_stack_events:set_default_joint_pose |
| params: |
| default_pose: |
| - 0.0 |
| - -0.785 |
| - -0.1107 |
| - -1.1775 |
| - 0.0 |
| - 0.785 |
| - 0.785 |
| - 0.04 |
| - 0.04 |
| mode: reset |
| interval_range_s: null |
| is_global_time: false |
| min_step_count_between_reset: 0 |
| randomize_franka_joint_state: |
| func: isaaclab_tasks.manager_based.manipulation.stack.mdp.franka_stack_events:randomize_joint_by_gaussian_offset |
| params: |
| mean: 0.0 |
| std: 0.02 |
| asset_cfg: |
| name: robot |
| joint_names: null |
| joint_ids: *id005 |
| fixed_tendon_names: null |
| fixed_tendon_ids: *id006 |
| body_names: null |
| body_ids: *id007 |
| object_collection_names: null |
| object_collection_ids: *id008 |
| preserve_order: false |
| mode: reset |
| interval_range_s: null |
| is_global_time: false |
| min_step_count_between_reset: 0 |
| reward_config: |
| action_rate: |
| func: isaaclab.envs.mdp.rewards:action_rate_l2 |
| params: {} |
| weight: -0.0001 |
| joint_vel: |
| func: isaaclab.envs.mdp.rewards:joint_vel_l2 |
| params: |
| asset_cfg: |
| name: robot |
| joint_names: null |
| joint_ids: *id009 |
| fixed_tendon_names: null |
| fixed_tendon_ids: *id010 |
| body_names: null |
| body_ids: *id011 |
| object_collection_names: null |
| object_collection_ids: *id012 |
| preserve_order: false |
| weight: -0.0001 |
| curriculum_config: null |
| command_config: null |
| mimic_env: isaaclab_arena.embodiments.franka.franka:FrankaMimicEnv |
| xr: null |
| termination_cfg: null |
| observation_cfg: |
| task_obs: |
| concatenate_terms: true |
| concatenate_dim: -1 |
| enable_corruption: false |
| history_length: null |
| flatten_history_dim: true |
| target_object_position: |
| func: isaaclab.envs.mdp.observations:generated_commands |
| params: |
| command_name: object_pose |
| modifiers: null |
| noise: null |
| clip: null |
| scale: null |
| history_length: 0 |
| flatten_history_dim: true |
| object_position: |
| func: isaaclab_arena.tasks.observations.observations:object_position_in_frame |
| params: |
| root_frame_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: 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 |
| object_cfg: |
| name: dex_cube |
| 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 |
| modifiers: null |
| noise: null |
| clip: null |
| scale: null |
| history_length: 0 |
| flatten_history_dim: true |
| commands_cfg: |
| object_pose: |
| class_type: isaaclab.envs.mdp.commands.pose_command:UniformPoseCommand |
| resampling_time_range: !!python/tuple |
| - 5.0 |
| - 5.0 |
| debug_vis: true |
| asset_name: robot |
| body_name: panda_hand |
| make_quat_unique: false |
| ranges: |
| pos_x: !!python/tuple |
| - 0.4 |
| - 0.6 |
| pos_y: !!python/tuple |
| - -0.25 |
| - 0.25 |
| pos_z: !!python/tuple |
| - 0.255 |
| - 0.455 |
| roll: !!python/tuple |
| - 0.0 |
| - 0.0 |
| pitch: !!python/tuple |
| - 0.0 |
| - 0.0 |
| yaw: !!python/tuple |
| - 0.0 |
| - 0.0 |
| goal_pose_visualizer_cfg: |
| prim_path: /Visuals/Command/goal_pose |
| markers: |
| frame: |
| func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| spawn_path: null |
| mass_props: null |
| deformable_props: null |
| rigid_props: null |
| collision_props: null |
| activate_contact_sensors: false |
| scale: !!python/tuple |
| - 0.1 |
| - 0.1 |
| - 0.1 |
| 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-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd |
| variants: null |
| connecting_line: |
| func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| spawn_path: null |
| mass_props: null |
| rigid_props: null |
| collision_props: null |
| activate_contact_sensors: false |
| visual_material_path: material |
| visual_material: |
| func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface |
| diffuse_color: !!python/tuple |
| - 1.0 |
| - 1.0 |
| - 0.0 |
| emissive_color: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| roughness: 1.0 |
| metallic: 0.0 |
| opacity: 1.0 |
| physics_material_path: material |
| physics_material: null |
| radius: 0.002 |
| height: 1.0 |
| axis: Z |
| current_pose_visualizer_cfg: |
| prim_path: /Visuals/Command/body_pose |
| markers: |
| frame: |
| func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| spawn_path: null |
| mass_props: null |
| deformable_props: null |
| rigid_props: null |
| collision_props: null |
| activate_contact_sensors: false |
| scale: !!python/tuple |
| - 0.1 |
| - 0.1 |
| - 0.1 |
| 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-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd |
| variants: null |
| connecting_line: |
| func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| spawn_path: null |
| mass_props: null |
| rigid_props: null |
| collision_props: null |
| activate_contact_sensors: false |
| visual_material_path: material |
| visual_material: |
| func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface |
| diffuse_color: !!python/tuple |
| - 1.0 |
| - 1.0 |
| - 0.0 |
| emissive_color: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| roughness: 1.0 |
| metallic: 0.0 |
| opacity: 1.0 |
| physics_material_path: material |
| physics_material: null |
| radius: 0.002 |
| height: 1.0 |
| axis: Z |
| rewards_cfg: |
| reaching_object: |
| func: isaaclab_arena.tasks.rewards.rewards:object_ee_distance |
| params: |
| std: 0.1 |
| object_cfg: |
| name: dex_cube |
| 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 |
| ee_frame_cfg: |
| name: ee_frame |
| 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 |
| weight: 1.0 |
| lifting_object: |
| func: isaaclab_arena.tasks.rewards.lift_object_rewards:object_is_lifted |
| params: |
| object_cfg: |
| name: dex_cube |
| 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 |
| minimal_height: 0.04 |
| weight: 15.0 |
| object_goal_tracking: |
| func: isaaclab_arena.tasks.rewards.lift_object_rewards:object_goal_distance |
| params: |
| std: 0.3 |
| minimal_height: 0.04 |
| command_name: object_pose |
| robot_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: 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 |
| object_cfg: |
| name: dex_cube |
| 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 |
| weight: 16.0 |
| object_goal_tracking_fine_grained: |
| func: isaaclab_arena.tasks.rewards.lift_object_rewards:object_goal_distance |
| params: |
| std: 0.05 |
| minimal_height: 0.04 |
| command_name: object_pose |
| robot_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: 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 |
| object_cfg: |
| name: dex_cube |
| 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 |
| weight: 5.0 |
| teleop_device: null |
| orchestrator: null |
| env_cfg_callback: null |
| rl_framework: |
| _value_: rsl_rl |
| _name_: RSL_RL |
| _sort_order_: 0 |
| rl_policy_cfg: isaaclab_arena_examples.policy.base_rsl_rl_policy:RLPolicyCfg |
|
|
