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nn/Forge.pth

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+version https://git-lfs.github.com/spec/v1
+oid sha256:f7039c63620053ba8ccc01fd4227563906291a51d997d7cb81e5c4cb36869ab1
+size 213424595

params/agent.yaml

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+params:
+  seed: 0
+  algo:
+    name: a2c_continuous
+  env:
+    clip_actions: 1.0
+  model:
+    name: continuous_a2c_logstd
+  network:
+    name: actor_critic
+    separate: false
+    space:
+      continuous:
+        mu_activation: None
+        sigma_activation: None
+        mu_init:
+          name: default
+        sigma_init:
+          name: const_initializer
+          val: 0
+        fixed_sigma: false
+    mlp:
+      units:
+      - 512
+      - 128
+      - 64
+      activation: elu
+      d2rl: false
+      initializer:
+        name: default
+      regularizer:
+        name: None
+    rnn:
+      name: lstm
+      units: 1024
+      layers: 2
+      before_mlp: true
+      concat_input: true
+      layer_norm: true
+  load_checkpoint: false
+  load_path: ''
+  config:
+    name: Forge
+    device: cuda:0
+    full_experiment_name: gr00t/peg_insert_dense
+    env_name: rlgpu
+    multi_gpu: false
+    ppo: true
+    mixed_precision: true
+    normalize_input: true
+    normalize_value: true
+    value_bootstrap: true
+    num_actors: 64
+    reward_shaper:
+      scale_value: 1.0
+    normalize_advantage: true
+    gamma: 0.995
+    tau: 0.95
+    learning_rate: 0.0001
+    lr_schedule: adaptive
+    schedule_type: standard
+    kl_threshold: 0.008
+    score_to_win: 20000
+    max_epochs: 200
+    save_best_after: 10
+    save_frequency: 100
+    print_stats: true
+    grad_norm: 1.0
+    entropy_coef: 0.0
+    truncate_grads: true
+    e_clip: 0.2
+    horizon_length: 128
+    minibatch_size: 512
+    mini_epochs: 4
+    critic_coef: 2
+    clip_value: true
+    seq_length: 128
+    bounds_loss_coef: 0.0001
+    central_value_config:
+      minibatch_size: 512
+      mini_epochs: 4
+      learning_rate: 1e-4
+      lr_schedule: adaptive
+      kl_threshold: 0.008
+      clip_value: true
+      normalize_input: true
+      truncate_grads: true
+      network:
+        name: actor_critic
+        central_value: true
+        mlp:
+          units:
+          - 512
+          - 128
+          - 64
+          activation: elu
+          d2rl: false
+          initializer:
+            name: default
+          regularizer:
+            name: None
+        rnn:
+          name: lstm
+          units: 1024
+          layers: 2
+          before_mlp: true
+          concat_input: true
+          layer_norm: true
+    player:
+      deterministic: false
+    device_name: cuda:0
+    train_dir: logs/rl_games/Forge

params/env.yaml

@@ -0,0 +1,858 @@
+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: 10.0
+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: peg_insert
+task:
+  robot_cfg:
+    robot_usd: ''
+    franka_fingerpad_length: 0.01
+    friction: 0.75
+  name: peg_insert
+  fixed_asset_cfg:
+    usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/IsaacLab/Factory/factory_hole_8mm.usd
+    diameter: 0.0081
+    height: 0.025
+    base_height: 0.0
+    friction: 0.75
+    mass: 0.05
+  held_asset_cfg:
+    usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/IsaacLab/Factory/factory_peg_8mm.usd
+    diameter: 0.007986
+    height: 0.05
+    friction: 0.75
+    mass: 0.019
+  asset_size: 8.0
+  hand_init_pos:
+  - 0.0
+  - 0.0
+  - 0.047
+  hand_init_pos_noise:
+  - 0.02
+  - 0.02
+  - 0.01
+  hand_init_orn:
+  - 3.1416
+  - 0.0
+  - 0.0
+  hand_init_orn_noise:
+  - 0.0
+  - 0.0
+  - 0.785
+  unidirectional_rot: false
+  fixed_asset_init_pos_noise:
+  - 0.05
+  - 0.05
+  - 0.05
+  fixed_asset_init_orn_deg: 0.0
+  fixed_asset_init_orn_range_deg: 360.0
+  held_asset_pos_noise:
+  - 0.003
+  - 0.0
+  - 0.003
+  held_asset_rot_init: 0.0
+  ee_success_yaw: 0.0
+  action_penalty_ee_scale: 0.0
+  action_grad_penalty_scale: 0.0
+  num_keypoints: 4
+  keypoint_scale: 0.15
+  keypoint_coef_baseline:
+  - 5
+  - 4
+  keypoint_coef_coarse:
+  - 50
+  - 2
+  keypoint_coef_fine:
+  - 100
+  - 0
+  success_threshold: 0.04
+  engage_threshold: 0.9
+  duration_s: 10.0
+  action_penalty_asset_scale: 0.001
+  contact_penalty_scale: 1.0e-05
+  delay_until_ratio: 0.25
+  contact_penalty_threshold_range:
+  - 5.0
+  - 10.0
+  force_shaping_lambda: 0.01
+  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_hole_8mm.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: 0.019
+        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_peg_8mm.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

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