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: 64
  env_spacing: 2.0
  lazy_sensor_update: true
  replicate_physics: true
  filter_collisions: true
  clone_in_fabric: false
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: 0.0025
  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
left_camera:
  class_type: isaaclab.sensors.camera.tiled_camera:TiledCamera
  prim_path: /World/envs/env_.*/left_camera
  update_period: 0.0
  history_length: 0
  debug_vis: false
  offset:
    pos: !!python/tuple
    - 0.6
    - 0.6
    - 0.4
    rot: !!python/tuple
    - 0.0
    - 0.0
    - -0.46175
    - -0.88701
    convention: opengl
  spawn:
    func: isaaclab.sim.spawners.sensors.sensors:spawn_camera
    visible: true
    semantic_tags: null
    copy_from_source: true
    projection_type: pinhole
    clipping_range: !!python/tuple
    - 0.1
    - 100000.0
    focal_length: 24.0
    focus_distance: 400.0
    f_stop: 0.0
    horizontal_aperture: 20.955
    vertical_aperture: null
    horizontal_aperture_offset: 0.0
    vertical_aperture_offset: 0.0
    lock_camera: true
  depth_clipping_behavior: none
  data_types:
  - rgb
  width: 256
  height: 256
  update_latest_camera_pose: false
  semantic_filter: '*:*'
  colorize_semantic_segmentation: true
  colorize_instance_id_segmentation: true
  colorize_instance_segmentation: true
  semantic_segmentation_mapping: {}
right_camera:
  class_type: isaaclab.sensors.camera.tiled_camera:TiledCamera
  prim_path: /World/envs/env_.*/right_camera
  update_period: 0.0
  history_length: 0
  debug_vis: false
  offset:
    pos: !!python/tuple
    - 0.6
    - -0.6
    - 0.4
    rot: !!python/tuple
    - 0.88701
    - 0.46175
    - 0.0
    - 0.0
    convention: opengl
  spawn:
    func: isaaclab.sim.spawners.sensors.sensors:spawn_camera
    visible: true
    semantic_tags: null
    copy_from_source: true
    projection_type: pinhole
    clipping_range: !!python/tuple
    - 0.1
    - 100000.0
    focal_length: 24.0
    focus_distance: 400.0
    f_stop: 0.0
    horizontal_aperture: 20.955
    vertical_aperture: null
    horizontal_aperture_offset: 0.0
    vertical_aperture_offset: 0.0
    lock_camera: true
  depth_clipping_behavior: none
  data_types:
  - rgb
  width: 256
  height: 256
  update_latest_camera_pose: false
  semantic_filter: '*:*'
  colorize_semantic_segmentation: true
  colorize_instance_id_segmentation: true
  colorize_instance_segmentation: true
  semantic_segmentation_mapping: {}
wrist_camera:
  class_type: isaaclab.sensors.camera.tiled_camera:TiledCamera
  prim_path: /World/envs/env_.*/Robot/panda_hand/wrist_camera
  update_period: 0.0
  history_length: 0
  debug_vis: false
  offset:
    pos: !!python/tuple
    - 0.05
    - 0.0
    - 0.0
    rot: !!python/tuple
    - 0.7032332
    - -0.0739128
    - -0.0739128
    - 0.7032332
    convention: ros
  spawn:
    func: isaaclab.sim.spawners.sensors.sensors:spawn_camera
    visible: true
    semantic_tags: null
    copy_from_source: true
    projection_type: pinhole
    clipping_range: !!python/tuple
    - 0.1
    - 100000.0
    focal_length: 24.0
    focus_distance: 400.0
    f_stop: 0.0
    horizontal_aperture: 20.955
    vertical_aperture: null
    horizontal_aperture_offset: 0.0
    vertical_aperture_offset: 0.0
    lock_camera: true
  depth_clipping_behavior: none
  data_types:
  - rgb
  width: 256
  height: 256
  update_latest_camera_pose: false
  semantic_filter: '*:*'
  colorize_semantic_segmentation: true
  colorize_instance_id_segmentation: true
  colorize_instance_segmentation: true
  semantic_segmentation_mapping: {}
is_demo_save: false
demo_save_cfg:
  dataset_path: /home/hyunho_RCI/datasets/gr00t-rl/forge/peg_insert
  chunk_id: chunk-000
  video_dir:
    left_camera: /home/hyunho_RCI/datasets/gr00t-rl/forge/peg_insert/videos/chunk-000/observation.images.left_view
    right_camera: /home/hyunho_RCI/datasets/gr00t-rl/forge/peg_insert/videos/chunk-000/observation.images.right_view
    wrist_camera: /home/hyunho_RCI/datasets/gr00t-rl/forge/peg_insert/videos/chunk-000/observation.images.wrist_view
  data_dir: /home/hyunho_RCI/datasets/gr00t-rl/forge/peg_insert/data/chunk-000