| decimation: 25 |
| scene: |
| num_envs: 8192 |
| env_spacing: 0.75 |
| terrain: |
| 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: |
| .*: 0.0 |
| joint_vel: |
| .*: 0.0 |
| spec_fn: !!python/name:mjlab.entity.entity.%3Clambda%3E '' |
| articulation: null |
| sort_actuators: false |
| lights: !!python/tuple |
| - name: sun |
| body: world |
| mode: fixed |
| target: null |
| type: directional |
| castshadow: true |
| pos: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 1.5 |
| dir: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - -1.0 |
| cutoff: 45.0 |
| exponent: 10.0 |
| cameras: !!python/tuple [] |
| textures: !!python/tuple |
| - name: groundplane |
| type: 2d |
| builtin: checker |
| rgb1: !!python/tuple |
| - 0.2 |
| - 0.3 |
| - 0.4 |
| rgb2: !!python/tuple |
| - 0.1 |
| - 0.2 |
| - 0.3 |
| width: 300 |
| height: 300 |
| mark: edge |
| markrgb: !!python/tuple |
| - 0.8 |
| - 0.8 |
| - 0.8 |
| materials: !!python/tuple |
| - name: groundplane |
| rgba: !!python/tuple |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| texuniform: true |
| texrepeat: !!python/tuple |
| - 4.0 |
| - 4.0 |
| reflectance: 0.2 |
| texture: groundplane |
| geom_names_expr: !!python/tuple |
| - terrain$ |
| collisions: !!python/tuple [] |
| terrain_type: plane |
| terrain_generator: null |
| env_spacing: 0.75 |
| max_init_terrain_level: null |
| num_envs: 8192 |
| entities: |
| robot: |
| init_state: |
| pos: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.5 |
| 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: null |
| joint_vel: |
| .*: 0.0 |
| spec_fn: !!python/object/apply:functools.partial |
| args: |
| - &id001 !!python/name:wuji_mjlab.assets.robots.cyclops_finger.cyclops_finger_cfg._get_spec '' |
| state: !!python/tuple |
| - *id001 |
| - !!python/tuple |
| - !!python/object/apply:pathlib.PosixPath |
| - / |
| - scratch3 |
| - lio011 |
| - cyclops |
| - mjlab_sim_cyclops_dexterous |
| - src |
| - wuji_mjlab |
| - assets |
| - robots |
| - cyclops_finger |
| - mjcf |
| - cyclops_finger.xml |
| - {} |
| - null |
| articulation: |
| actuators: !!python/tuple |
| - target_names_expr: !!python/tuple |
| - prismatic_joint_d[1-3]_(center|left|right) |
| transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType |
| - joint |
| armature: null |
| frictionloss: null |
| viscous_damping: null |
| delay_min_lag: 0 |
| delay_max_lag: 0 |
| delay_hold_prob: 0.0 |
| delay_update_period: 0 |
| delay_per_env_phase: true |
| command_field: null |
| soft_joint_pos_limit_factor: 0.9 |
| sort_actuators: false |
| lights: !!python/tuple [] |
| cameras: !!python/tuple [] |
| textures: !!python/tuple [] |
| materials: !!python/tuple [] |
| collisions: !!python/tuple [] |
| object: |
| init_state: |
| pos: !!python/tuple |
| - 0.0 |
| - 0.002 |
| - 0.77 |
| 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: |
| .*: 0.0 |
| joint_vel: |
| .*: 0.0 |
| spec_fn: !!python/object/apply:functools.partial |
| args: |
| - &id002 !!python/name:wuji_mjlab.assets.objects.inhand_object.object_cfg._get_spec '' |
| state: !!python/tuple |
| - *id002 |
| - !!python/tuple |
| - null |
| - {} |
| - null |
| articulation: null |
| sort_actuators: false |
| lights: !!python/tuple [] |
| cameras: !!python/tuple [] |
| textures: !!python/tuple [] |
| materials: !!python/tuple [] |
| collisions: !!python/tuple [] |
| sensors: !!python/tuple |
| - name: tip_object_contact |
| primary: |
| mode: geom |
| pattern: !!python/tuple |
| - fingertip_sensor_(center|left|right)_col |
| entity: robot |
| exclude: !!python/tuple [] |
| secondary: |
| mode: geom |
| pattern: cube |
| entity: object |
| exclude: !!python/tuple [] |
| fields: !!python/tuple |
| - found |
| - force |
| reduce: mindist |
| num_slots: 1 |
| secondary_policy: first |
| track_air_time: false |
| global_frame: false |
| history_length: 0 |
| debug: false |
| - name: palm_object_contact |
| primary: |
| mode: body |
| pattern: base_gripper |
| entity: robot |
| exclude: !!python/tuple [] |
| secondary: |
| mode: body |
| pattern: cube |
| entity: object |
| exclude: !!python/tuple [] |
| fields: !!python/tuple |
| - force |
| reduce: netforce |
| num_slots: 1 |
| secondary_policy: first |
| track_air_time: false |
| global_frame: false |
| history_length: 0 |
| debug: false |
| - name: palm_object_found |
| primary: |
| mode: body |
| pattern: !!python/tuple |
| - base_gripper |
| - proximal_link_(center|left|right) |
| entity: robot |
| exclude: !!python/tuple [] |
| secondary: |
| mode: body |
| pattern: cube |
| entity: object |
| exclude: !!python/tuple [] |
| fields: !!python/tuple |
| - found |
| reduce: mindist |
| num_slots: 1 |
| secondary_policy: first |
| track_air_time: false |
| global_frame: false |
| history_length: 0 |
| debug: false |
| - name: distal_finger_object_found |
| primary: |
| mode: body |
| pattern: !!python/tuple |
| - distal_link_(center|left|right) |
| entity: robot |
| exclude: !!python/tuple [] |
| secondary: |
| mode: body |
| pattern: cube |
| entity: object |
| exclude: !!python/tuple [] |
| fields: !!python/tuple |
| - found |
| reduce: mindist |
| num_slots: 1 |
| secondary_policy: first |
| track_air_time: false |
| global_frame: false |
| history_length: 0 |
| debug: false |
| - name: undesired_object_contact |
| primary: |
| mode: body |
| pattern: !!python/tuple |
| - base_link_(center|left|right) |
| entity: robot |
| exclude: !!python/tuple [] |
| secondary: |
| mode: body |
| pattern: cube |
| entity: object |
| exclude: !!python/tuple [] |
| fields: !!python/tuple |
| - force |
| reduce: netforce |
| num_slots: 1 |
| secondary_policy: first |
| track_air_time: false |
| global_frame: false |
| history_length: 0 |
| debug: false |
| - name: robot_contact |
| primary: |
| mode: body |
| pattern: !!python/tuple |
| - distal_link_(center|left|right) |
| entity: robot |
| exclude: !!python/tuple [] |
| secondary: null |
| fields: !!python/tuple |
| - force |
| reduce: netforce |
| num_slots: 1 |
| secondary_policy: first |
| track_air_time: false |
| global_frame: false |
| history_length: 0 |
| debug: false |
| - name: finger_collision |
| primary: |
| mode: geom |
| pattern: !!python/tuple |
| - fingerpad_sensor_(center|left|right)_col |
| - fingertip_sensor_(center|left|right)_col |
| - proximal_link_(center|left|right)_col |
| - distal_link_(center|left|right)_col |
| entity: robot |
| exclude: !!python/tuple [] |
| secondary: |
| mode: subtree |
| pattern: base_gripper |
| entity: robot |
| exclude: !!python/tuple [] |
| fields: !!python/tuple |
| - found |
| - force |
| reduce: none |
| num_slots: 1 |
| secondary_policy: first |
| track_air_time: false |
| global_frame: false |
| history_length: 5 |
| debug: false |
| extent: 0.8 |
| spec_fn: null |
| observations: |
| policy: |
| terms: |
| noisy_joint_angles: |
| func: &id003 !!python/name:wuji_mjlab.tasks.reorient.config.cyclops_finger.cyclops_finger_terms.actuator_pos_normalized '' |
| params: {} |
| noise: |
| operation: add |
| _tensor_cache: {} |
| n_min: -0.06 |
| n_max: 0.06 |
| clip: null |
| scale: null |
| delay_min_lag: 0 |
| delay_max_lag: 0 |
| delay_per_env: true |
| delay_hold_prob: 0.0 |
| delay_update_period: 0 |
| delay_per_env_phase: true |
| history_length: 3 |
| flatten_history_dim: true |
| qpos_error: |
| func: &id004 !!python/name:wuji_mjlab.tasks.reorient.config.cyclops_finger.cyclops_finger_terms.actuator_pos_target_error '' |
| params: {} |
| noise: null |
| clip: null |
| scale: null |
| delay_min_lag: 0 |
| delay_max_lag: 0 |
| delay_per_env: true |
| delay_hold_prob: 0.0 |
| delay_update_period: 0 |
| delay_per_env_phase: true |
| history_length: 3 |
| flatten_history_dim: true |
| cube_pos_in_tag: |
| func: &id005 !!python/name:wuji_mjlab.tasks.reorient.mdp.observations.cube_pos_in_tag '' |
| params: |
| injection_prob: 0.02 |
| robot_cfg: |
| name: robot |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: !!python/tuple |
| - base_gripper |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: null |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| noise: |
| operation: add |
| _tensor_cache: {} |
| n_min: -0.008 |
| n_max: 0.008 |
| clip: null |
| scale: null |
| delay_min_lag: 0 |
| delay_max_lag: 0 |
| delay_per_env: true |
| delay_hold_prob: 0.0 |
| delay_update_period: 0 |
| delay_per_env_phase: true |
| history_length: 3 |
| flatten_history_dim: true |
| cube_ori_error: |
| func: &id006 !!python/name:wuji_mjlab.tasks.reorient.mdp.observations.goal_rot_err_6d '' |
| params: |
| command_name: reorient_command |
| object_cfg: |
| name: object |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: null |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_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 |
| body_names: !!python/tuple |
| - base_gripper |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: null |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| injection_prob: 0.02 |
| noise: |
| operation: add |
| _tensor_cache: {} |
| mean: 0.0 |
| std: 0.05 |
| clip: null |
| scale: null |
| delay_min_lag: 0 |
| delay_max_lag: 0 |
| delay_per_env: true |
| delay_hold_prob: 0.0 |
| delay_update_period: 0 |
| delay_per_env_phase: true |
| history_length: 3 |
| flatten_history_dim: true |
| action_history: |
| func: &id007 !!python/name:wuji_mjlab.tasks.reorient.mdp.observations.previous_raw_action '' |
| params: {} |
| noise: null |
| clip: null |
| scale: null |
| delay_min_lag: 0 |
| delay_max_lag: 0 |
| delay_per_env: true |
| delay_hold_prob: 0.0 |
| delay_update_period: 0 |
| delay_per_env_phase: true |
| history_length: 3 |
| flatten_history_dim: true |
| concatenate_terms: true |
| concatenate_dim: -1 |
| enable_corruption: true |
| history_length: null |
| flatten_history_dim: true |
| nan_policy: disabled |
| nan_check_per_term: true |
| critic: |
| terms: |
| joint_angles: |
| func: *id003 |
| params: {} |
| noise: null |
| clip: null |
| scale: null |
| delay_min_lag: 0 |
| delay_max_lag: 0 |
| delay_per_env: true |
| delay_hold_prob: 0.0 |
| delay_update_period: 0 |
| delay_per_env_phase: true |
| history_length: 3 |
| flatten_history_dim: true |
| qpos_error: |
| func: *id004 |
| params: {} |
| noise: null |
| clip: null |
| scale: null |
| delay_min_lag: 0 |
| delay_max_lag: 0 |
| delay_per_env: true |
| delay_hold_prob: 0.0 |
| delay_update_period: 0 |
| delay_per_env_phase: true |
| history_length: 3 |
| flatten_history_dim: true |
| cube_pos_in_tag: |
| func: *id005 |
| params: |
| robot_cfg: |
| name: robot |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: !!python/tuple |
| - base_gripper |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: null |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| noise: null |
| clip: null |
| scale: null |
| delay_min_lag: 0 |
| delay_max_lag: 0 |
| delay_per_env: true |
| delay_hold_prob: 0.0 |
| delay_update_period: 0 |
| delay_per_env_phase: true |
| history_length: 3 |
| flatten_history_dim: true |
| cube_ori_error: |
| func: *id006 |
| params: |
| command_name: reorient_command |
| object_cfg: |
| name: object |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: null |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_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 |
| body_names: !!python/tuple |
| - base_gripper |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: null |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| noise: null |
| clip: null |
| scale: null |
| delay_min_lag: 0 |
| delay_max_lag: 0 |
| delay_per_env: true |
| delay_hold_prob: 0.0 |
| delay_update_period: 0 |
| delay_per_env_phase: true |
| history_length: 3 |
| flatten_history_dim: true |
| action_history: |
| func: *id007 |
| params: {} |
| noise: null |
| clip: null |
| scale: null |
| delay_min_lag: 0 |
| delay_max_lag: 0 |
| delay_per_env: true |
| delay_hold_prob: 0.0 |
| delay_update_period: 0 |
| delay_per_env_phase: true |
| history_length: 3 |
| flatten_history_dim: true |
| true_joint_pos: |
| func: *id003 |
| params: {} |
| noise: null |
| clip: null |
| scale: null |
| delay_min_lag: 0 |
| delay_max_lag: 0 |
| delay_per_env: true |
| delay_hold_prob: 0.0 |
| delay_update_period: 0 |
| delay_per_env_phase: true |
| history_length: 3 |
| flatten_history_dim: true |
| true_joint_vel: |
| func: !!python/name:wuji_mjlab.tasks.reorient.config.cyclops_finger.cyclops_finger_terms.actuator_vel '' |
| params: {} |
| noise: null |
| clip: null |
| scale: null |
| delay_min_lag: 0 |
| delay_max_lag: 0 |
| delay_per_env: true |
| delay_hold_prob: 0.0 |
| delay_update_period: 0 |
| delay_per_env_phase: true |
| history_length: 3 |
| flatten_history_dim: true |
| fingertip_positions: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.observations.body_pos_rel '' |
| params: |
| asset_cfg: |
| name: robot |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: !!python/tuple |
| - distal_link_(center|left|right) |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: null |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| offset: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.5 |
| noise: null |
| clip: null |
| scale: 5.0 |
| delay_min_lag: 0 |
| delay_max_lag: 0 |
| delay_per_env: true |
| delay_hold_prob: 0.0 |
| delay_update_period: 0 |
| delay_per_env_phase: true |
| history_length: 3 |
| flatten_history_dim: true |
| cube_pos_in_tag_clean: |
| func: *id005 |
| params: |
| robot_cfg: |
| name: robot |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: !!python/tuple |
| - base_gripper |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: null |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| noise: null |
| clip: null |
| scale: null |
| delay_min_lag: 0 |
| delay_max_lag: 0 |
| delay_per_env: true |
| delay_hold_prob: 0.0 |
| delay_update_period: 0 |
| delay_per_env_phase: true |
| history_length: 0 |
| flatten_history_dim: true |
| cube_ori_error_clean: |
| func: *id006 |
| params: |
| command_name: reorient_command |
| object_cfg: |
| name: object |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: null |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_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 |
| body_names: !!python/tuple |
| - base_gripper |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: null |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| noise: null |
| clip: null |
| scale: null |
| delay_min_lag: 0 |
| delay_max_lag: 0 |
| delay_per_env: true |
| delay_hold_prob: 0.0 |
| delay_update_period: 0 |
| delay_per_env_phase: true |
| history_length: 0 |
| flatten_history_dim: true |
| cube_linvel: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.observations.root_lin_vel_w '' |
| params: |
| asset_cfg: |
| name: object |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: null |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| noise: null |
| clip: null |
| scale: null |
| delay_min_lag: 0 |
| delay_max_lag: 0 |
| delay_per_env: true |
| delay_hold_prob: 0.0 |
| delay_update_period: 0 |
| delay_per_env_phase: true |
| history_length: 0 |
| flatten_history_dim: true |
| cube_angvel: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.observations.root_ang_vel_w '' |
| params: |
| asset_cfg: |
| name: object |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: null |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| noise: null |
| clip: null |
| scale: null |
| delay_min_lag: 0 |
| delay_max_lag: 0 |
| delay_per_env: true |
| delay_hold_prob: 0.0 |
| delay_update_period: 0 |
| delay_per_env_phase: true |
| history_length: 0 |
| flatten_history_dim: true |
| pert_dir: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.observations.perturbation_direction '' |
| params: {} |
| noise: null |
| clip: null |
| scale: null |
| delay_min_lag: 0 |
| delay_max_lag: 0 |
| delay_per_env: true |
| delay_hold_prob: 0.0 |
| delay_update_period: 0 |
| delay_per_env_phase: true |
| history_length: 0 |
| flatten_history_dim: true |
| pert_velocity: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.observations.perturbation_velocity '' |
| params: {} |
| noise: null |
| clip: null |
| scale: null |
| delay_min_lag: 0 |
| delay_max_lag: 0 |
| delay_per_env: true |
| delay_hold_prob: 0.0 |
| delay_update_period: 0 |
| delay_per_env_phase: true |
| history_length: 0 |
| flatten_history_dim: true |
| state_progress: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.observations.command_state_progress '' |
| params: |
| command_name: reorient_command |
| noise: null |
| clip: null |
| scale: null |
| delay_min_lag: 0 |
| delay_max_lag: 0 |
| delay_per_env: true |
| delay_hold_prob: 0.0 |
| delay_update_period: 0 |
| delay_per_env_phase: true |
| history_length: 0 |
| flatten_history_dim: true |
| cage_counter: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.observations.cage_counter_progress '' |
| params: |
| max_outside_steps: 10 |
| noise: null |
| clip: null |
| scale: null |
| delay_min_lag: 0 |
| delay_max_lag: 0 |
| delay_per_env: true |
| delay_hold_prob: 0.0 |
| delay_update_period: 0 |
| delay_per_env_phase: true |
| history_length: 0 |
| flatten_history_dim: true |
| dr_params: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.observations.dr_params_privileged '' |
| params: |
| robot_cfg: |
| name: robot |
| joint_names: !!python/tuple |
| - .* |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: !!python/tuple |
| - fingerpad_sensor_(center|left|right)_col |
| - fingertip_sensor_(center|left|right)_col |
| - proximal_link_(center|left|right)_col |
| - distal_link_(center|left|right)_col |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: !!python/tuple |
| - .* |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| object_cfg: |
| name: object |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: !!python/tuple |
| - cube |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: !!python/tuple |
| - cube |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| noise: null |
| clip: null |
| scale: null |
| delay_min_lag: 0 |
| delay_max_lag: 0 |
| delay_per_env: true |
| delay_hold_prob: 0.0 |
| delay_update_period: 0 |
| delay_per_env_phase: true |
| history_length: 0 |
| flatten_history_dim: true |
| palm_rot_6d: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.observations.palm_rot_6d_w '' |
| params: |
| asset_cfg: |
| name: robot |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: null |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| noise: null |
| clip: null |
| scale: null |
| delay_min_lag: 0 |
| delay_max_lag: 0 |
| delay_per_env: true |
| delay_hold_prob: 0.0 |
| delay_update_period: 0 |
| delay_per_env_phase: true |
| history_length: 0 |
| flatten_history_dim: true |
| concatenate_terms: true |
| concatenate_dim: -1 |
| enable_corruption: false |
| history_length: null |
| flatten_history_dim: true |
| nan_policy: disabled |
| nan_check_per_term: true |
| actions: |
| joint_pos: |
| entity_name: robot |
| clip: null |
| transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType |
| - joint |
| actuator_names: !!python/tuple |
| - .* |
| scale: 1.0 |
| offset: 0.0 |
| preserve_order: false |
| use_default_offset: true |
| action_scale: 0.5 |
| ema_alpha: 0.5 |
| warmup_time_s: 0.4 |
| events: |
| reset_robot_pose: |
| func: !!python/name:mjlab.envs.mdp.events.reset_root_state_uniform '' |
| params: |
| pose_range: |
| roll: !!python/tuple |
| - -0.1745 |
| - 0.1745 |
| pitch: !!python/tuple |
| - -0.1745 |
| - 0.1745 |
| yaw: !!python/tuple |
| - -0.1745 |
| - 0.1745 |
| asset_cfg: |
| name: robot |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: null |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_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 |
| reset_robot_joints: |
| func: !!python/name:wuji_mjlab.tasks.reorient.config.cyclops_finger.cyclops_finger_terms.reset_actuated_joints_uniform '' |
| params: |
| asset_cfg: |
| name: robot |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: null |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| position_range: |
| prismatic_joint_d1_.*: !!python/tuple |
| - 0.01 |
| - 0.022 |
| prismatic_joint_d2_.*: !!python/tuple |
| - 0.01 |
| - 0.022 |
| prismatic_joint_d3_.*: !!python/tuple |
| - 0.006 |
| - 0.0135 |
| velocity_range: {} |
| use_default_offset: true |
| operation: abs |
| mode: reset |
| interval_range_s: null |
| is_global_time: false |
| min_step_count_between_reset: 0 |
| reset_object_pose: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.event_impl.episode.reset_object_orientation '' |
| params: |
| pos_noise: 0.01 |
| asset_cfg: |
| name: object |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: null |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_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 |
| object_disturbance_force: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.event_impl.episode.apply_velocity_disturbance '' |
| params: |
| min_speed: 0.05 |
| max_speed: 0.15 |
| warmup_time_s: 3.0 |
| warmup_frac: 0.05 |
| rampup_frac: 0.8 |
| adaptive_curriculum_term: adaptive_episode |
| mode: interval |
| interval_range_s: !!python/tuple |
| - 0.6 |
| - 1.8 |
| is_global_time: false |
| min_step_count_between_reset: 0 |
| reset_object_disturbance_force: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.event_impl.episode.reset_disturbance_caches '' |
| params: {} |
| mode: reset |
| interval_range_s: null |
| is_global_time: false |
| min_step_count_between_reset: 0 |
| reset_joint_acc_cache: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.event_impl.episode.reset_joint_acc_cache '' |
| params: {} |
| mode: reset |
| interval_range_s: null |
| is_global_time: false |
| min_step_count_between_reset: 0 |
| object_com: |
| func: !!python/name:mjlab.envs.mdp.dr.body.body_com_offset '' |
| params: |
| asset_cfg: |
| name: object |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: !!python/tuple |
| - cube |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: null |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| operation: add |
| ranges: !!python/tuple |
| - -0.003 |
| - 0.003 |
| mode: startup |
| interval_range_s: null |
| is_global_time: false |
| min_step_count_between_reset: 0 |
| robot_friction: |
| func: !!python/name:mjlab.envs.mdp.dr.geom.geom_friction '' |
| params: |
| asset_cfg: |
| name: robot |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: !!python/tuple |
| - fingerpad_sensor_(center|left|right)_col |
| - fingertip_sensor_(center|left|right)_col |
| - proximal_link_(center|left|right)_col |
| - distal_link_(center|left|right)_col |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| operation: scale |
| ranges: !!python/tuple |
| - 0.7 |
| - 1.3 |
| mode: startup |
| interval_range_s: null |
| is_global_time: false |
| min_step_count_between_reset: 0 |
| contact_params_palm_thumb: |
| func: &id008 !!python/name:wuji_mjlab.tasks.reorient.mdp.event_impl.randomization.randomize_contact_params '' |
| params: |
| robot_cfg: |
| name: robot |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: !!python/tuple |
| - fingerpad_sensor_(center|left|right)_col |
| - fingertip_sensor_(center|left|right)_col |
| - proximal_link_(center|left|right)_col |
| - distal_link_(center|left|right)_col |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| solref_timeconst_range: !!python/tuple |
| - 1.0 |
| - 2.0 |
| solref_dampratio_range: !!python/tuple |
| - 0.8 |
| - 1.2 |
| solimp_width_range: !!python/tuple |
| - 2.0 |
| - 5.0 |
| solimp_dmin_range: !!python/tuple |
| - 0.5 |
| - 1.0 |
| mode: startup |
| interval_range_s: null |
| is_global_time: false |
| min_step_count_between_reset: 0 |
| contact_params_fingers: |
| func: *id008 |
| params: |
| robot_cfg: |
| name: robot |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: !!python/tuple |
| - (proximal|distal)_link_(center|left|right)_col |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| solref_timeconst_range: !!python/tuple |
| - 1.0 |
| - 2.0 |
| solref_dampratio_range: !!python/tuple |
| - 0.8 |
| - 1.2 |
| solimp_width_range: !!python/tuple |
| - 1.0 |
| - 2.0 |
| solimp_dmin_range: !!python/tuple |
| - 0.5 |
| - 1.0 |
| mode: startup |
| interval_range_s: null |
| is_global_time: false |
| min_step_count_between_reset: 0 |
| object_size: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.event_impl.randomization.randomize_geom_size_uniform '' |
| params: |
| asset_cfg: |
| name: object |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: !!python/tuple |
| - cube |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| scale_range: !!python/tuple |
| - 0.85 |
| - 1.15 |
| mode: startup |
| interval_range_s: null |
| is_global_time: false |
| min_step_count_between_reset: 0 |
| object_mass: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.event_impl.randomization.randomize_body_mass_and_inertia '' |
| params: |
| asset_cfg: |
| name: object |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: !!python/tuple |
| - cube |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: null |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| scale_range: !!python/tuple |
| - 0.4 |
| - 1.6 |
| mode: startup |
| interval_range_s: null |
| is_global_time: false |
| min_step_count_between_reset: 0 |
| pd_gains: |
| func: !!python/name:mjlab.envs.mdp.dr.actuator.pd_gains '' |
| params: |
| asset_cfg: |
| name: robot |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: null |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| kp_range: !!python/tuple |
| - 0.75 |
| - 1.5 |
| kd_range: !!python/tuple |
| - 0.5 |
| - 2.0 |
| distribution: log_uniform |
| operation: scale |
| mode: startup |
| interval_range_s: null |
| is_global_time: false |
| min_step_count_between_reset: 0 |
| robot_dof_damping: |
| func: !!python/name:mjlab.envs.mdp.dr.joint.joint_damping '' |
| params: |
| asset_cfg: |
| name: robot |
| joint_names: .* |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: null |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| operation: scale |
| distribution: log_uniform |
| ranges: !!python/tuple |
| - 0.3 |
| - 3.0 |
| mode: startup |
| interval_range_s: null |
| is_global_time: false |
| min_step_count_between_reset: 0 |
| robot_dof_armature: |
| func: !!python/name:mjlab.envs.mdp.dr.joint.joint_armature '' |
| params: |
| asset_cfg: |
| name: robot |
| joint_names: .* |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: null |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| operation: scale |
| ranges: !!python/tuple |
| - 0.75 |
| - 1.3 |
| mode: startup |
| interval_range_s: null |
| is_global_time: false |
| min_step_count_between_reset: 0 |
| robot_dof_frictionloss: |
| func: !!python/name:mjlab.envs.mdp.dr.joint.joint_friction '' |
| params: |
| asset_cfg: |
| name: robot |
| joint_names: .* |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: null |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| operation: scale |
| ranges: !!python/tuple |
| - 0.5 |
| - 2.0 |
| mode: startup |
| interval_range_s: null |
| is_global_time: false |
| min_step_count_between_reset: 0 |
| encoder_bias: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.event_impl.randomization.randomize_encoder_bias '' |
| params: |
| asset_cfg: |
| name: robot |
| joint_names: .* |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: null |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| bias_range: !!python/tuple |
| - -0.01 |
| - 0.01 |
| mode: startup |
| interval_range_s: null |
| is_global_time: false |
| min_step_count_between_reset: 0 |
| robot_link_inertia: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.event_impl.randomization.randomize_body_inertia '' |
| params: |
| asset_cfg: |
| name: robot |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: .* |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: null |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| scale_range: !!python/tuple |
| - 0.4 |
| - 1.5 |
| mode: startup |
| interval_range_s: null |
| is_global_time: false |
| min_step_count_between_reset: 0 |
| robot_link_mass: |
| func: !!python/name:mjlab.envs.mdp.dr.body.body_mass '' |
| params: |
| asset_cfg: |
| name: robot |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: .* |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: null |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| operation: scale |
| ranges: !!python/tuple |
| - 0.4 |
| - 1.5 |
| mode: startup |
| interval_range_s: null |
| is_global_time: false |
| min_step_count_between_reset: 0 |
| seed: 42 |
| sim: |
| nconmax: 32 |
| njmax: 256 |
| ls_parallel: true |
| contact_sensor_maxmatch: 64 |
| mujoco: |
| timestep: 0.001 |
| integrator: implicitfast |
| impratio: 1.0 |
| cone: pyramidal |
| jacobian: auto |
| solver: newton |
| iterations: 30 |
| tolerance: 1.0e-10 |
| ls_iterations: 20 |
| ls_tolerance: 0.01 |
| ccd_iterations: 50 |
| gravity: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - -9.81 |
| disableflags: !!python/tuple [] |
| enableflags: !!python/tuple [] |
| nan_guard: |
| enabled: false |
| buffer_size: 100 |
| output_dir: /tmp/mjlab/nan_dumps |
| max_envs_to_dump: 5 |
| viewer: |
| lookat: !!python/tuple |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| distance: 0.5 |
| fovy: null |
| elevation: -18.0 |
| azimuth: 90.0 |
| origin_type: !!python/object/apply:mjlab.viewer.viewer_config.OriginType |
| - 4 |
| entity_name: robot |
| body_name: base_gripper |
| env_idx: 0 |
| max_extra_envs: 2 |
| enable_reflections: true |
| enable_shadows: true |
| height: 240 |
| width: 320 |
| episode_length_s: 50.0 |
| rewards: |
| orientation_alignment: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.rewards.orientation_alignment '' |
| params: |
| command_name: reorient_command |
| margin: 3.141592653589793 |
| bound: 0.2 |
| weight: 30.0 |
| hand_pose: |
| func: !!python/name:wuji_mjlab.tasks.reorient.config.cyclops_finger.cyclops_finger_terms.actuator_pose_penalty '' |
| params: {} |
| weight: 0.2 |
| action_rate: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.rewards.action_rate_combined '' |
| params: {} |
| weight: -0.5 |
| torque: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.rewards.torque_penalty '' |
| params: {} |
| weight: 0 |
| tip_slide: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.rewards.tip_slide_penalty '' |
| params: |
| robot_cfg: |
| name: robot |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: null |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: !!python/tuple |
| - touch_site_fingertip_(center|left|right) |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| sensor_cfg: |
| name: tip_object_contact |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: null |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| contact_threshold: 0.0 |
| weight: -0.3 |
| cage_escape: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.cage.CageEscapePenalty '' |
| params: |
| robot_cfg: |
| name: robot |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: !!python/tuple |
| - base_gripper |
| - base_link_(center|left|right) |
| - c_link_(center|left|right) |
| - proximal_link_(center|left|right) |
| - distal_link_(center|left|right) |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: null |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| margin: 0.02 |
| weight: -100.0 |
| finger_collision: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.rewards.finger_self_collision_penalty '' |
| params: |
| sensor_cfg: |
| name: finger_collision |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: null |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| weight: -1.0 |
| hold_escalation: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.rewards.hold_escalation '' |
| params: |
| command_name: reorient_command |
| weight: 11.4 |
| palm_detach: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.rewards.palm_detach_reward '' |
| params: {} |
| weight: 0.5 |
| terminations: |
| time_out: |
| func: !!python/name:mjlab.envs.mdp.terminations.time_out '' |
| params: {} |
| time_out: true |
| cage_drop: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.cage.cage_drop '' |
| params: |
| max_outside_steps: 10 |
| time_out: false |
| commands: |
| reorient_command: |
| resampling_time_range: !!python/tuple |
| - 1000000.0 |
| - 1000000.0 |
| debug_vis: false |
| entity_name: object |
| success_threshold: 0.2 |
| success_hold_steps: 5 |
| goal_switch_delay: 20 |
| min_goal_interval: 0.0 |
| robot_entity_name: robot |
| palm_body_pattern: base_gripper |
| curriculum: |
| success_curriculum: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.curriculums.reorient_success_curriculum '' |
| params: |
| command_name: reorient_command |
| count_threshold: 3 |
| delta_per_loop: 0.08 |
| adaptive_episode: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.curriculums.adaptive_episode_curriculum '' |
| params: |
| target_steps: 800 |
| inc_rate: 0.1 |
| dec_rate: 0.2 |
| min_scale: 0.05 |
| drop_gamma: 1.0 |
| metrics: |
| action_delta_rms: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.metrics.action_delta_rms '' |
| params: {} |
| per_substep: false |
| reduce: mean |
| action_jerk_rms: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.metrics.action_jerk_rms '' |
| params: {} |
| per_substep: false |
| reduce: mean |
| cage_escape_frequency: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.metrics.cage_escape_frequency '' |
| params: {} |
| per_substep: false |
| reduce: mean |
| fingertip_contact_count: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.metrics.fingertip_contact_count '' |
| params: |
| sensor_cfg: |
| name: tip_object_contact |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: null |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| per_substep: false |
| reduce: mean |
| torque_saturation_ratio: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.metrics.torque_saturation_ratio '' |
| params: |
| asset_cfg: |
| name: robot |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: null |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: !!python/tuple |
| - .* |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| per_substep: false |
| reduce: mean |
| joint_acceleration_rms: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.metrics.joint_acceleration_rms '' |
| params: |
| asset_cfg: |
| name: robot |
| joint_names: !!python/tuple |
| - .* |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: null |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| per_substep: false |
| reduce: mean |
| joint_vel_rms: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.metrics.joint_vel_rms '' |
| params: |
| asset_cfg: |
| name: robot |
| joint_names: !!python/tuple |
| - .* |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: null |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| per_substep: false |
| reduce: mean |
| cube_height_above_palm: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.metrics.cube_height_above_palm '' |
| params: |
| robot_cfg: |
| name: robot |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: !!python/tuple |
| - base_gripper |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: null |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| per_substep: false |
| reduce: mean |
| finger_collision_frequency: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.metrics.finger_collision_frequency '' |
| params: |
| sensor_cfg: |
| name: finger_collision |
| joint_names: null |
| joint_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| body_names: null |
| body_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| geom_names: null |
| geom_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| site_names: null |
| site_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| actuator_names: null |
| actuator_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| tendon_names: null |
| tendon_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| camera_names: null |
| camera_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| light_names: null |
| light_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| material_names: null |
| material_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| pair_names: null |
| pair_ids: !!python/object/apply:builtins.slice |
| - null |
| - null |
| - null |
| preserve_order: false |
| per_substep: false |
| reduce: mean |
| cube_survival_steps: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.metrics.cube_survival_steps '' |
| params: {} |
| per_substep: false |
| reduce: mean |
| success_interval: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.metrics.success_interval '' |
| params: |
| command_name: reorient_command |
| per_substep: false |
| reduce: mean |
| goal_reach_count: |
| func: !!python/name:wuji_mjlab.tasks.reorient.mdp.metrics.curriculum_progress '' |
| params: |
| command_name: reorient_command |
| per_substep: false |
| reduce: mean |
| recorders: {} |
| is_finite_horizon: false |
| auto_reset: true |
| scale_rewards_by_dt: true |
|
|
