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eye: !!python/tuple
- -2.25
- 0.0
- 0.75
lookat: !!python/tuple
- 0.0
- 0.0
- 0.45
cam_prim_path: /OmniverseKit_Persp
resolution: !!python/tuple
- 1280
- 720
origin_type: env
env_index: 0
asset_name: null
body_name: null
sim:
device: cuda:0
dt: 0.008333333333333333
gravity: !!python/tuple
- 0.0
- 0.0
- -9.81
physics_prim_path: /physicsScene
physics_material:
func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material
static_friction: 0.5
dynamic_friction: 0.5
restitution: 0.0
friction_combine_mode: average
restitution_combine_mode: average
compliant_contact_stiffness: 0.0
compliant_contact_damping: 0.0
use_fabric: true
render_interval: 2
enable_scene_query_support: false
physics:
class_type: isaaclab_newton.physics.newton_manager:NewtonManager
num_substeps: 2
debug_mode: false
use_cuda_graph: true
solver_cfg:
solver_type: mujoco_warp
njmax: 300
nconmax: 70
iterations: 100
ls_iterations: 15
solver: newton
integrator: implicitfast
use_mujoco_cpu: false
disable_contacts: false
default_actuator_gear: null
actuator_gears: null
update_data_interval: 2
save_to_mjcf: null
impratio: 10.0
cone: elliptic
ccd_iterations: 5000
ls_parallel: false
use_mujoco_contacts: true
render:
enable_translucency: null
enable_reflections: null
enable_global_illumination: null
antialiasing_mode: null
enable_dlssg: null
enable_dl_denoiser: null
dlss_mode: null
enable_direct_lighting: null
samples_per_pixel: null
enable_shadows: null
enable_ambient_occlusion: null
dome_light_upper_lower_strategy: null
carb_settings: null
rendering_mode: null
create_stage_in_memory: false
logging_level: WARNING
save_logs_to_file: true
log_dir: null
visualizer_cfgs: null
ui_window_class_type: isaaclab.envs.ui.base_env_window:BaseEnvWindow
seed: 42
decimation: 2
scene:
num_envs: 4096
env_spacing: 3
lazy_sensor_update: true
replicate_physics: true
filter_collisions: true
clone_in_fabric: false
robot:
class_type: isaaclab.assets.articulation.articulation:Articulation
prim_path: /World/envs/env_.*/Robot
spawn:
func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd
visible: true
semantic_tags: null
copy_from_source: true
spawn_path: /World/template/Robot/proto_asset_.*
mass_props: null
deformable_props: null
rigid_props:
rigid_body_enabled: null
kinematic_enabled: null
disable_gravity: true
linear_damping: 0.0
angular_damping: 0.0
max_linear_velocity: 1000.0
max_angular_velocity: 1000.0
max_depenetration_velocity: 1000.0
max_contact_impulse: null
enable_gyroscopic_forces: null
retain_accelerations: true
solver_position_iteration_count: null
solver_velocity_iteration_count: null
sleep_threshold: null
stabilization_threshold: null
collision_props: null
activate_contact_sensors: true
scale: null
articulation_props:
articulation_enabled: null
enabled_self_collisions: true
solver_position_iteration_count: 32
solver_velocity_iteration_count: 1
sleep_threshold: 0.005
stabilization_threshold: 0.0005
fix_root_link: null
fixed_tendons_props: null
spatial_tendons_props: null
joint_drive_props:
drive_type: force
max_effort: null
max_velocity: null
stiffness: null
damping: null
visual_material_path: material
visual_material: null
usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/IsaacLab/Robots/KukaAllegro/kuka.usd
variants: null
init_state:
pos: !!python/tuple
- 0.0
- 0.0
- 0.0
rot: !!python/tuple
- 0.0
- 0.0
- 0.0
- 1.0
lin_vel: !!python/tuple
- 0.0
- 0.0
- 0.0
ang_vel: !!python/tuple
- 0.0
- 0.0
- 0.0
joint_pos:
iiwa7_joint_(1|2|7): 0.0
iiwa7_joint_3: 0.7854
iiwa7_joint_4: 1.5708
iiwa7_joint_(5|6): -1.5708
(index|middle|ring)_joint_0: 0.0
(index|middle|ring)_joint_1: 0.3
(index|middle|ring)_joint_2: 0.3
(index|middle|ring)_joint_3: 0.3
thumb_joint_0: 1.5
thumb_joint_1: 0.60147215
thumb_joint_2: 0.33795027
thumb_joint_3: 0.60845138
joint_vel:
.*: 0.0
collision_group: 0
debug_vis: false
articulation_root_prim_path: null
soft_joint_pos_limit_factor: 1.0
actuators:
kuka_allegro_actuators:
class_type: isaaclab.actuators.actuator_pd:ImplicitActuator
joint_names_expr:
- iiwa7_joint_(1|2|3|4|5|6|7)
- index_joint_(0|1|2|3)
- middle_joint_(0|1|2|3)
- ring_joint_(0|1|2|3)
- thumb_joint_(0|1|2|3)
effort_limit: null
velocity_limit: null
effort_limit_sim:
iiwa7_joint_(1|2|3|4|5|6|7): 300.0
index_joint_(0|1|2|3): 0.5
middle_joint_(0|1|2|3): 0.5
ring_joint_(0|1|2|3): 0.5
thumb_joint_(0|1|2|3): 0.5
velocity_limit_sim: null
stiffness:
iiwa7_joint_(1|2|3|4): 300.0
iiwa7_joint_5: 100.0
iiwa7_joint_6: 50.0
iiwa7_joint_7: 25.0
index_joint_(0|1|2|3): 3.0
middle_joint_(0|1|2|3): 3.0
ring_joint_(0|1|2|3): 3.0
thumb_joint_(0|1|2|3): 3.0
damping:
iiwa7_joint_(1|2|3|4): 45.0
iiwa7_joint_5: 20.0
iiwa7_joint_6: 15.0
iiwa7_joint_7: 15.0
index_joint_(0|1|2|3): 0.1
middle_joint_(0|1|2|3): 0.1
ring_joint_(0|1|2|3): 0.1
thumb_joint_(0|1|2|3): 0.1
armature:
.*: 0.01
friction:
iiwa7_joint_(1|2|3|4|5|6|7): 1.0
index_joint_(0|1|2|3): 0.01
middle_joint_(0|1|2|3): 0.01
ring_joint_(0|1|2|3): 0.01
thumb_joint_(0|1|2|3): 0.01
dynamic_friction: null
viscous_friction: null
actuator_value_resolution_debug_print: false
object:
class_type: isaaclab.assets.rigid_object.rigid_object:RigidObject
prim_path: /World/envs/env_.*/Object
spawn:
func: isaaclab.sim.spawners.shapes.shapes:spawn_cuboid
visible: true
semantic_tags: null
copy_from_source: true
spawn_path: /World/template/Object/proto_asset_.*
mass_props:
mass: 0.2
density: null
rigid_props:
rigid_body_enabled: null
kinematic_enabled: null
disable_gravity: false
linear_damping: null
angular_damping: null
max_linear_velocity: null
max_angular_velocity: null
max_depenetration_velocity: null
max_contact_impulse: null
enable_gyroscopic_forces: null
retain_accelerations: null
solver_position_iteration_count: 16
solver_velocity_iteration_count: 0
sleep_threshold: null
stabilization_threshold: null
collision_props:
collision_enabled: null
contact_offset: null
rest_offset: null
torsional_patch_radius: null
min_torsional_patch_radius: null
activate_contact_sensors: false
visual_material_path: material
visual_material: null
physics_material_path: material
physics_material:
func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material
static_friction: 0.5
dynamic_friction: 0.5
restitution: 0.0
friction_combine_mode: average
restitution_combine_mode: average
compliant_contact_stiffness: 0.0
compliant_contact_damping: 0.0
size: !!python/tuple
- 0.05
- 0.1
- 0.1
init_state:
pos: !!python/tuple
- -0.55
- 0.1
- 0.35
rot: !!python/tuple
- 0.0
- 0.0
- 0.0
- 1.0
lin_vel: !!python/tuple
- 0.0
- 0.0
- 0.0
ang_vel: !!python/tuple
- 0.0
- 0.0
- 0.0
collision_group: 0
debug_vis: false
table:
class_type: isaaclab.assets.rigid_object.rigid_object:RigidObject
prim_path: /World/envs/env_.*/table
spawn:
func: isaaclab.sim.spawners.shapes.shapes:spawn_cuboid
visible: false
semantic_tags: null
copy_from_source: true
spawn_path: /World/template/table/proto_asset_.*
mass_props: null
rigid_props:
rigid_body_enabled: null
kinematic_enabled: true
disable_gravity: null
linear_damping: null
angular_damping: null
max_linear_velocity: null
max_angular_velocity: null
max_depenetration_velocity: null
max_contact_impulse: null
enable_gyroscopic_forces: null
retain_accelerations: null
solver_position_iteration_count: null
solver_velocity_iteration_count: null
sleep_threshold: null
stabilization_threshold: null
collision_props:
collision_enabled: null
contact_offset: null
rest_offset: null
torsional_patch_radius: null
min_torsional_patch_radius: null
activate_contact_sensors: false
visual_material_path: material
visual_material: null
physics_material_path: material
physics_material: null
size: !!python/tuple
- 0.8
- 1.5
- 0.04
init_state:
pos: !!python/tuple
- -0.55
- 0.0
- 0.235
rot: !!python/tuple
- 0.0
- 0.0
- 0.0
- 1.0
lin_vel: !!python/tuple
- 0.0
- 0.0
- 0.0
ang_vel: !!python/tuple
- 0.0
- 0.0
- 0.0
collision_group: 0
debug_vis: false
plane:
class_type: null
prim_path: /World/GroundPlane
spawn:
func: isaaclab.sim.spawners.from_files.from_files:spawn_ground_plane
visible: true
semantic_tags: null
copy_from_source: true
spawn_path: /World/GroundPlane
usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Environments/Grid/default_environment.usd
color: !!python/tuple
- 0.0
- 0.0
- 0.0
size: !!python/tuple
- 100.0
- 100.0
physics_material:
func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material
static_friction: 0.5
dynamic_friction: 0.5
restitution: 0.0
friction_combine_mode: average
restitution_combine_mode: average
compliant_contact_stiffness: 0.0
compliant_contact_damping: 0.0
init_state:
pos: !!python/tuple
- 0.0
- 0.0
- 0.0
rot: !!python/tuple
- 0.0
- 0.0
- 0.0
- 1.0
collision_group: -1
debug_vis: false
sky_light:
class_type: null
prim_path: /World/skyLight
spawn:
func: isaaclab.sim.spawners.lights.lights:spawn_light
visible: true
semantic_tags: null
copy_from_source: true
spawn_path: /World/skyLight
prim_type: DomeLight
color: !!python/tuple
- 1.0
- 1.0
- 1.0
enable_color_temperature: false
color_temperature: 6500.0
normalize: false
exposure: 0.0
intensity: 750.0
texture_file: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Materials/Textures/Skies/PolyHaven/kloofendal_43d_clear_puresky_4k.hdr
texture_format: automatic
visible_in_primary_ray: true
init_state:
pos: !!python/tuple
- 0.0
- 0.0
- 0.0
rot: !!python/tuple
- 0.0
- 0.0
- 0.0
- 1.0
collision_group: 0
debug_vis: false
base_camera: null
wrist_camera: null
index_link_3_object_s:
class_type: isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor
prim_path: /World/envs/env_.*/Robot/ee_link/index_link_3
update_period: 0.0
debug_vis: false
track_pose: false
track_contact_points: false
track_friction_forces: false
max_contact_data_count_per_prim: null
track_air_time: false
force_threshold: null
history_length: 0
filter_prim_paths_expr:
- /World/envs/env_.*/Object
visualizer_cfg:
prim_path: /Visuals/ContactSensor
markers:
contact:
func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere
visible: true
semantic_tags: null
copy_from_source: true
spawn_path: null
mass_props: null
rigid_props: null
collision_props: null
activate_contact_sensors: false
visual_material_path: material
visual_material:
func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
diffuse_color: !!python/tuple
- 1.0
- 0.0
- 0.0
emissive_color: !!python/tuple
- 0.0
- 0.0
- 0.0
roughness: 0.5
metallic: 0.0
opacity: 1.0
physics_material_path: material
physics_material: null
radius: 0.02
no_contact:
func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere
visible: false
semantic_tags: null
copy_from_source: true
spawn_path: null
mass_props: null
rigid_props: null
collision_props: null
activate_contact_sensors: false
visual_material_path: material
visual_material:
func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
diffuse_color: !!python/tuple
- 0.0
- 1.0
- 0.0
emissive_color: !!python/tuple
- 0.0
- 0.0
- 0.0
roughness: 0.5
metallic: 0.0
opacity: 1.0
physics_material_path: material
physics_material: null
radius: 0.02
middle_link_3_object_s:
class_type: isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor
prim_path: /World/envs/env_.*/Robot/ee_link/middle_link_3
update_period: 0.0
debug_vis: false
track_pose: false
track_contact_points: false
track_friction_forces: false
max_contact_data_count_per_prim: null
track_air_time: false
force_threshold: null
history_length: 0
filter_prim_paths_expr:
- /World/envs/env_.*/Object
visualizer_cfg:
prim_path: /Visuals/ContactSensor
markers:
contact:
func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere
visible: true
semantic_tags: null
copy_from_source: true
spawn_path: null
mass_props: null
rigid_props: null
collision_props: null
activate_contact_sensors: false
visual_material_path: material
visual_material:
func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
diffuse_color: !!python/tuple
- 1.0
- 0.0
- 0.0
emissive_color: !!python/tuple
- 0.0
- 0.0
- 0.0
roughness: 0.5
metallic: 0.0
opacity: 1.0
physics_material_path: material
physics_material: null
radius: 0.02
no_contact:
func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere
visible: false
semantic_tags: null
copy_from_source: true
spawn_path: null
mass_props: null
rigid_props: null
collision_props: null
activate_contact_sensors: false
visual_material_path: material
visual_material:
func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
diffuse_color: !!python/tuple
- 0.0
- 1.0
- 0.0
emissive_color: !!python/tuple
- 0.0
- 0.0
- 0.0
roughness: 0.5
metallic: 0.0
opacity: 1.0
physics_material_path: material
physics_material: null
radius: 0.02
ring_link_3_object_s:
class_type: isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor
prim_path: /World/envs/env_.*/Robot/ee_link/ring_link_3
update_period: 0.0
debug_vis: false
track_pose: false
track_contact_points: false
track_friction_forces: false
max_contact_data_count_per_prim: null
track_air_time: false
force_threshold: null
history_length: 0
filter_prim_paths_expr:
- /World/envs/env_.*/Object
visualizer_cfg:
prim_path: /Visuals/ContactSensor
markers:
contact:
func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere
visible: true
semantic_tags: null
copy_from_source: true
spawn_path: null
mass_props: null
rigid_props: null
collision_props: null
activate_contact_sensors: false
visual_material_path: material
visual_material:
func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
diffuse_color: !!python/tuple
- 1.0
- 0.0
- 0.0
emissive_color: !!python/tuple
- 0.0
- 0.0
- 0.0
roughness: 0.5
metallic: 0.0
opacity: 1.0
physics_material_path: material
physics_material: null
radius: 0.02
no_contact:
func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere
visible: false
semantic_tags: null
copy_from_source: true
spawn_path: null
mass_props: null
rigid_props: null
collision_props: null
activate_contact_sensors: false
visual_material_path: material
visual_material:
func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
diffuse_color: !!python/tuple
- 0.0
- 1.0
- 0.0
emissive_color: !!python/tuple
- 0.0
- 0.0
- 0.0
roughness: 0.5
metallic: 0.0
opacity: 1.0
physics_material_path: material
physics_material: null
radius: 0.02
thumb_link_3_object_s:
class_type: isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor
prim_path: /World/envs/env_.*/Robot/ee_link/thumb_link_3
update_period: 0.0
debug_vis: false
track_pose: false
track_contact_points: false
track_friction_forces: false
max_contact_data_count_per_prim: null
track_air_time: false
force_threshold: null
history_length: 0
filter_prim_paths_expr:
- /World/envs/env_.*/Object
visualizer_cfg:
prim_path: /Visuals/ContactSensor
markers:
contact:
func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere
visible: true
semantic_tags: null
copy_from_source: true
spawn_path: null
mass_props: null
rigid_props: null
collision_props: null
activate_contact_sensors: false
visual_material_path: material
visual_material:
func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
diffuse_color: !!python/tuple
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- 0.0
- 0.0
emissive_color: !!python/tuple
- 0.0
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- 0.0
roughness: 0.5
metallic: 0.0
opacity: 1.0
physics_material_path: material
physics_material: null
radius: 0.02
no_contact:
func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere
visible: false
semantic_tags: null
copy_from_source: true
spawn_path: null
mass_props: null
rigid_props: null
collision_props: null
activate_contact_sensors: false
visual_material_path: material
visual_material:
func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
diffuse_color: !!python/tuple
- 0.0
- 1.0
- 0.0
emissive_color: !!python/tuple
- 0.0
- 0.0
- 0.0
roughness: 0.5
metallic: 0.0
opacity: 1.0
physics_material_path: material
physics_material: null
radius: 0.02
recorders:
dataset_file_handler_class_type: isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler
dataset_export_dir_path: /tmp/isaaclab/logs
dataset_filename: dataset
dataset_export_mode:
_value_: 1
_name_: EXPORT_ALL
_sort_order_: 1
export_in_record_pre_reset: true
export_in_close: false
observations:
policy:
concatenate_terms: true
concatenate_dim: -1
enable_corruption: true
history_length: 5
flatten_history_dim: true
object_quat_b:
func: isaaclab_tasks.manager_based.manipulation.dexsuite.mdp.observations:object_quat_b
params: {}
modifiers: null
noise:
func: isaaclab.utils.noise.noise_model:uniform_noise
operation: add
n_min: -0.0
n_max: 0.0
clip: null
scale: null
history_length: 0
flatten_history_dim: true
target_object_pose_b:
func: isaaclab.envs.mdp.observations:generated_commands
params:
command_name: object_pose
modifiers: null
noise: null
clip: null
scale: null
history_length: 0
flatten_history_dim: true
actions:
func: isaaclab.envs.mdp.observations:last_action
params: {}
modifiers: null
noise: null
clip: null
scale: null
history_length: 0
flatten_history_dim: true
proprio:
concatenate_terms: true
concatenate_dim: -1
enable_corruption: true
history_length: 5
flatten_history_dim: true
contact:
func: isaaclab_tasks.manager_based.manipulation.dexsuite.mdp.observations:fingers_contact_force_b
params:
contact_sensor_names:
- index_link_3_object_s
- middle_link_3_object_s
- ring_link_3_object_s
- thumb_link_3_object_s
modifiers: null
noise: null
clip: !!python/tuple
- -20.0
- 20.0
scale: null
history_length: 0
flatten_history_dim: true
joint_pos:
func: isaaclab.envs.mdp.observations:joint_pos
params: {}
modifiers: null
noise:
func: isaaclab.utils.noise.noise_model:uniform_noise
operation: add
n_min: -0.0
n_max: 0.0
clip: null
scale: null
history_length: 0
flatten_history_dim: true
joint_vel:
func: isaaclab.envs.mdp.observations:joint_vel
params: {}
modifiers: null
noise:
func: isaaclab.utils.noise.noise_model:uniform_noise
operation: add
n_min: -0.0
n_max: 0.0
clip: null
scale: null
history_length: 0
flatten_history_dim: true
hand_tips_state_b:
func: isaaclab_tasks.manager_based.manipulation.dexsuite.mdp.observations:body_state_b
params:
body_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:
- palm_link
- .*_tip
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
base_asset_cfg:
name: robot
joint_names: null
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
body_names: null
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: false
modifiers: null
noise:
func: isaaclab.utils.noise.noise_model:uniform_noise
operation: add
n_min: -0.0
n_max: 0.0
clip: !!python/tuple
- -2.0
- 2.0
scale: null
history_length: 0
flatten_history_dim: true
perception:
concatenate_terms: true
concatenate_dim: 0
enable_corruption: true
history_length: 5
flatten_history_dim: true
object_point_cloud:
func: isaaclab_tasks.manager_based.manipulation.dexsuite.mdp.observations:object_point_cloud_b
params:
num_points: 64
flatten: true
modifiers: null
noise:
func: isaaclab.utils.noise.noise_model:uniform_noise
operation: add
n_min: -0.0
n_max: 0.0
clip: !!python/tuple
- -2.0
- 2.0
scale: null
history_length: 0
flatten_history_dim: true
actions:
action:
class_type: isaaclab.envs.mdp.actions.joint_actions:RelativeJointPositionAction
asset_name: robot
debug_vis: false
clip: null
joint_names:
- .*
scale: 0.1
offset: 0.0
preserve_order: false
use_zero_offset: true
events:
variable_gravity:
func: isaaclab.envs.mdp.events:randomize_physics_scene_gravity
params:
gravity_distribution_params: !!python/tuple
- - 0.0
- 0.0
- 0.0
- - 0.0
- 0.0
- 0.0
operation: abs
mode: reset
interval_range_s: null
is_global_time: false
min_step_count_between_reset: 0
reset_object:
func: isaaclab.envs.mdp.events:reset_root_state_uniform
params:
pose_range:
x:
- -0.2
- 0.2
y:
- -0.2
- 0.2
z:
- 0.0
- 0.4
roll:
- -3.14
- 3.14
pitch:
- -3.14
- 3.14
yaw:
- -3.14
- 3.14
velocity_range:
x:
- -0.0
- 0.0
y:
- -0.0
- 0.0
z:
- -0.0
- 0.0
asset_cfg:
name: object
joint_names: null
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
body_names: null
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: false
mode: reset
interval_range_s: null
is_global_time: false
min_step_count_between_reset: 0
reset_root:
func: isaaclab.envs.mdp.events:reset_root_state_uniform
params:
pose_range:
x:
- -0.0
- 0.0
y:
- -0.0
- 0.0
yaw:
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- 0.0
velocity_range:
x:
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y:
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z:
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asset_cfg:
name: robot
joint_names: null
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
body_names: null
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: false
mode: reset
interval_range_s: null
is_global_time: false
min_step_count_between_reset: 0
reset_robot_joints:
func: isaaclab.envs.mdp.events:reset_joints_by_offset
params:
position_range:
- -0.5
- 0.5
velocity_range:
- 0.0
- 0.0
mode: reset
interval_range_s: null
is_global_time: false
min_step_count_between_reset: 0
reset_robot_wrist_joint:
func: isaaclab.envs.mdp.events:reset_joints_by_offset
params:
asset_cfg:
name: robot
joint_names: iiwa7_joint_7
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
position_range:
- -3
- 3
velocity_range:
- 0.0
- 0.0
mode: reset
interval_range_s: null
is_global_time: false
min_step_count_between_reset: 0
rerender_on_reset: false
num_rerenders_on_reset: 0
wait_for_textures: true
xr: null
teleop_devices:
devices: {}
isaac_teleop: null
export_io_descriptors: false
log_dir: /home/qianl/IsaacLab/logs/rsl_rl/dexsuite_kuka_allegro/2026-03-16_17-43-56
commands:
object_pose:
class_type: isaaclab_tasks.manager_based.manipulation.dexsuite.mdp.commands.pose_commands:ObjectUniformPoseCommand
resampling_time_range: !!python/tuple
- 2.0
- 3.0
debug_vis: false
asset_name: robot
object_name: object
make_quat_unique: false
ranges:
pos_x: !!python/tuple
- -0.7
- -0.3
pos_y: !!python/tuple
- -0.25
- 0.25
pos_z: !!python/tuple
- 0.55
- 0.95
roll: !!python/tuple
- -3.14
- 3.14
pitch: !!python/tuple
- -3.14
- 3.14
yaw: !!python/tuple
- 0.0
- 0.0
position_only: true
goal_pose_visualizer_cfg:
prim_path: /Visuals/Command/goal_pose
markers:
frame:
func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd
visible: true
semantic_tags: null
copy_from_source: true
spawn_path: null
mass_props: null
deformable_props: null
rigid_props: null
collision_props: null
activate_contact_sensors: false
scale: !!python/tuple
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- 0.1
- 0.1
articulation_props: null
fixed_tendons_props: null
spatial_tendons_props: null
joint_drive_props: null
visual_material_path: material
visual_material: null
usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd
variants: null
position_far:
func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere
visible: true
semantic_tags: null
copy_from_source: true
spawn_path: null
mass_props: null
rigid_props: null
collision_props: null
activate_contact_sensors: false
visual_material_path: material
visual_material:
func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
diffuse_color: !!python/tuple
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- 0.0
- 0.0
emissive_color: !!python/tuple
- 0.0
- 0.0
- 0.0
roughness: 0.5
metallic: 0.0
opacity: 1.0
physics_material_path: material
physics_material: null
radius: 0.01
position_near:
func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere
visible: true
semantic_tags: null
copy_from_source: true
spawn_path: null
mass_props: null
rigid_props: null
collision_props: null
activate_contact_sensors: false
visual_material_path: material
visual_material:
func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
diffuse_color: !!python/tuple
- 0.0
- 1.0
- 0.0
emissive_color: !!python/tuple
- 0.0
- 0.0
- 0.0
roughness: 0.5
metallic: 0.0
opacity: 1.0
physics_material_path: material
physics_material: null
radius: 0.01
curr_pose_visualizer_cfg:
prim_path: /Visuals/Command/body_pose
markers:
frame:
func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd
visible: true
semantic_tags: null
copy_from_source: true
spawn_path: null
mass_props: null
deformable_props: null
rigid_props: null
collision_props: null
activate_contact_sensors: false
scale: !!python/tuple
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- 0.1
- 0.1
articulation_props: null
fixed_tendons_props: null
spatial_tendons_props: null
joint_drive_props: null
visual_material_path: material
visual_material: null
usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd
variants: null
position_far:
func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere
visible: true
semantic_tags: null
copy_from_source: true
spawn_path: null
mass_props: null
rigid_props: null
collision_props: null
activate_contact_sensors: false
visual_material_path: material
visual_material:
func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
diffuse_color: !!python/tuple
- 1.0
- 0.0
- 0.0
emissive_color: !!python/tuple
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- 0.0
- 0.0
roughness: 0.5
metallic: 0.0
opacity: 1.0
physics_material_path: material
physics_material: null
radius: 0.01
position_near:
func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere
visible: true
semantic_tags: null
copy_from_source: true
spawn_path: null
mass_props: null
rigid_props: null
collision_props: null
activate_contact_sensors: false
visual_material_path: material
visual_material:
func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
diffuse_color: !!python/tuple
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- 1.0
- 0.0
emissive_color: !!python/tuple
- 0.0
- 0.0
- 0.0
roughness: 0.5
metallic: 0.0
opacity: 1.0
physics_material_path: material
physics_material: null
radius: 0.01
success_vis_asset_name: table
success_visualizer_cfg:
prim_path: /Visuals/SuccessMarkers
markers:
failure:
func: isaaclab.sim.spawners.shapes.shapes:spawn_cuboid
visible: true
semantic_tags: null
copy_from_source: true
spawn_path: null
mass_props: null
rigid_props:
rigid_body_enabled: null
kinematic_enabled: true
disable_gravity: null
linear_damping: null
angular_damping: null
max_linear_velocity: null
max_angular_velocity: null
max_depenetration_velocity: null
max_contact_impulse: null
enable_gyroscopic_forces: null
retain_accelerations: null
solver_position_iteration_count: null
solver_velocity_iteration_count: null
sleep_threshold: null
stabilization_threshold: null
collision_props:
collision_enabled: null
contact_offset: null
rest_offset: null
torsional_patch_radius: null
min_torsional_patch_radius: null
activate_contact_sensors: false
visual_material_path: material
visual_material:
func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
diffuse_color: !!python/tuple
- 0.25
- 0.15
- 0.15
emissive_color: !!python/tuple
- 0.0
- 0.0
- 0.0
roughness: 0.5
metallic: 0.0
opacity: 1.0
physics_material_path: material
physics_material: null
size: !!python/tuple
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- 1.5
- 0.04
success:
func: isaaclab.sim.spawners.shapes.shapes:spawn_cuboid
visible: true
semantic_tags: null
copy_from_source: true
spawn_path: null
mass_props: null
rigid_props:
rigid_body_enabled: null
kinematic_enabled: true
disable_gravity: null
linear_damping: null
angular_damping: null
max_linear_velocity: null
max_angular_velocity: null
max_depenetration_velocity: null
max_contact_impulse: null
enable_gyroscopic_forces: null
retain_accelerations: null
solver_position_iteration_count: null
solver_velocity_iteration_count: null
sleep_threshold: null
stabilization_threshold: null
collision_props:
collision_enabled: null
contact_offset: null
rest_offset: null
torsional_patch_radius: null
min_torsional_patch_radius: null
activate_contact_sensors: false
visual_material_path: material
visual_material:
func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface
diffuse_color: !!python/tuple
- 0.15
- 0.25
- 0.15
emissive_color: !!python/tuple
- 0.0
- 0.0
- 0.0
roughness: 0.5
metallic: 0.0
opacity: 1.0
physics_material_path: material
physics_material: null
size: !!python/tuple
- 0.8
- 1.5
- 0.04
rewards:
action_l2:
func: isaaclab_tasks.manager_based.manipulation.dexsuite.mdp.rewards:action_l2_clamped
params: {}
weight: -0.005
action_rate_l2:
func: isaaclab_tasks.manager_based.manipulation.dexsuite.mdp.rewards:action_rate_l2_clamped
params: {}
weight: -0.005
fingers_to_object:
func: isaaclab_tasks.manager_based.manipulation.dexsuite.mdp.rewards:object_ee_distance
params:
std: 0.4
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:
- palm_link
- .*_tip
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
thumb_name: thumb_link_3_object_s
finger_names:
- index_link_3_object_s
- middle_link_3_object_s
- ring_link_3_object_s
weight: 1.0
position_tracking:
func: isaaclab_tasks.manager_based.manipulation.dexsuite.mdp.rewards:position_command_error_tanh
params:
asset_cfg:
name: robot
joint_names: null
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
body_names: null
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: false
std: 0.2
command_name: object_pose
align_asset_cfg:
name: object
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
thumb_name: thumb_link_3_object_s
finger_names:
- index_link_3_object_s
- middle_link_3_object_s
- ring_link_3_object_s
weight: 2.0
orientation_tracking: null
success:
func: isaaclab_tasks.manager_based.manipulation.dexsuite.mdp.rewards:success_reward
params:
asset_cfg:
name: robot
joint_names: null
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
body_names: null
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: false
pos_std: 0.1
rot_std: null
command_name: object_pose
align_asset_cfg:
name: object
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
thumb_name: thumb_link_3_object_s
finger_names:
- index_link_3_object_s
- middle_link_3_object_s
- ring_link_3_object_s
weight: 10
early_termination:
func: isaaclab.envs.mdp.rewards:is_terminated_term
params:
term_keys: abnormal_robot
weight: -1
good_finger_contact:
func: isaaclab_tasks.manager_based.manipulation.dexsuite.mdp.rewards:contacts
params:
threshold: 0.1
thumb_name: thumb_link_3_object_s
finger_names:
- index_link_3_object_s
- middle_link_3_object_s
- ring_link_3_object_s
weight: 0.5
contact_count:
func: isaaclab_tasks.manager_based.manipulation.dexsuite.mdp.rewards:contact_count
params:
threshold: 0.01
sensor_names:
- index_link_3_object_s
- middle_link_3_object_s
- ring_link_3_object_s
- thumb_link_3_object_s
weight: 1.0
terminations:
time_out:
func: isaaclab.envs.mdp.terminations:time_out
params: {}
time_out: true
object_out_of_bound:
func: isaaclab_tasks.manager_based.manipulation.dexsuite.mdp.terminations:out_of_bound
params:
in_bound_range:
x: !!python/tuple
- -1.5
- 0.5
y: !!python/tuple
- -2.0
- 2.0
z: !!python/tuple
- 0.0
- 2.0
asset_cfg:
name: object
joint_names: null
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
body_names: null
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: false
time_out: false
abnormal_robot:
func: isaaclab_tasks.manager_based.manipulation.dexsuite.mdp.terminations:abnormal_robot_state
params: {}
time_out: false
curriculum:
adr:
func: isaaclab_tasks.manager_based.manipulation.dexsuite.mdp.curriculums:DifficultyScheduler
params:
init_difficulty: 0
min_difficulty: 0
max_difficulty: 10
joint_pos_unoise_min_adr:
func: isaaclab.envs.mdp.curriculums:modify_term_cfg
params:
address: observations.proprio.joint_pos.noise.n_min
modify_fn: isaaclab_tasks.manager_based.manipulation.dexsuite.mdp.curriculums:initial_final_interpolate_fn
modify_params:
initial_value: 0.0
final_value: -0.1
difficulty_term_str: adr
joint_pos_unoise_max_adr:
func: isaaclab.envs.mdp.curriculums:modify_term_cfg
params:
address: observations.proprio.joint_pos.noise.n_max
modify_fn: isaaclab_tasks.manager_based.manipulation.dexsuite.mdp.curriculums:initial_final_interpolate_fn
modify_params:
initial_value: 0.0
final_value: 0.1
difficulty_term_str: adr
joint_vel_unoise_min_adr:
func: isaaclab.envs.mdp.curriculums:modify_term_cfg
params:
address: observations.proprio.joint_vel.noise.n_min
modify_fn: isaaclab_tasks.manager_based.manipulation.dexsuite.mdp.curriculums:initial_final_interpolate_fn
modify_params:
initial_value: 0.0
final_value: -0.2
difficulty_term_str: adr
joint_vel_unoise_max_adr:
func: isaaclab.envs.mdp.curriculums:modify_term_cfg
params:
address: observations.proprio.joint_vel.noise.n_max
modify_fn: isaaclab_tasks.manager_based.manipulation.dexsuite.mdp.curriculums:initial_final_interpolate_fn
modify_params:
initial_value: 0.0
final_value: 0.2
difficulty_term_str: adr
hand_tips_pos_unoise_min_adr:
func: isaaclab.envs.mdp.curriculums:modify_term_cfg
params:
address: observations.proprio.hand_tips_state_b.noise.n_min
modify_fn: isaaclab_tasks.manager_based.manipulation.dexsuite.mdp.curriculums:initial_final_interpolate_fn
modify_params:
initial_value: 0.0
final_value: -0.01
difficulty_term_str: adr
hand_tips_pos_unoise_max_adr:
func: isaaclab.envs.mdp.curriculums:modify_term_cfg
params:
address: observations.proprio.hand_tips_state_b.noise.n_max
modify_fn: isaaclab_tasks.manager_based.manipulation.dexsuite.mdp.curriculums:initial_final_interpolate_fn
modify_params:
initial_value: 0.0
final_value: 0.01
difficulty_term_str: adr
object_quat_unoise_min_adr:
func: isaaclab.envs.mdp.curriculums:modify_term_cfg
params:
address: observations.policy.object_quat_b.noise.n_min
modify_fn: isaaclab_tasks.manager_based.manipulation.dexsuite.mdp.curriculums:initial_final_interpolate_fn
modify_params:
initial_value: 0.0
final_value: -0.03
difficulty_term_str: adr
object_quat_unoise_max_adr:
func: isaaclab.envs.mdp.curriculums:modify_term_cfg
params:
address: observations.policy.object_quat_b.noise.n_max
modify_fn: isaaclab_tasks.manager_based.manipulation.dexsuite.mdp.curriculums:initial_final_interpolate_fn
modify_params:
initial_value: 0.0
final_value: 0.03
difficulty_term_str: adr
object_obs_unoise_min_adr:
func: isaaclab.envs.mdp.curriculums:modify_term_cfg
params:
address: observations.perception.object_point_cloud.noise.n_min
modify_fn: isaaclab_tasks.manager_based.manipulation.dexsuite.mdp.curriculums:initial_final_interpolate_fn
modify_params:
initial_value: 0.0
final_value: -0.01
difficulty_term_str: adr
object_obs_unoise_max_adr:
func: isaaclab.envs.mdp.curriculums:modify_term_cfg
params:
address: observations.perception.object_point_cloud.noise.n_max
modify_fn: isaaclab_tasks.manager_based.manipulation.dexsuite.mdp.curriculums:initial_final_interpolate_fn
modify_params:
initial_value: 0.0
final_value: -0.01
difficulty_term_str: adr
gravity_adr:
func: isaaclab.envs.mdp.curriculums:modify_term_cfg
params:
address: events.variable_gravity.params.gravity_distribution_params
modify_fn: isaaclab_tasks.manager_based.manipulation.dexsuite.mdp.curriculums:initial_final_interpolate_fn
modify_params:
initial_value: !!python/tuple
- - 0.0
- 0.0
- 0.0
- - 0.0
- 0.0
- 0.0
final_value: !!python/tuple
- - 0.0
- 0.0
- -9.81
- - 0.0
- 0.0
- -9.81
difficulty_term_str: adr
episode_length_s: 6.0
is_finite_horizon: false
|