| viewer: |
| 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 |
| - 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 |
| 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: |
| - -0.0 |
| - 0.0 |
| velocity_range: |
| x: |
| - -0.0 |
| - 0.0 |
| y: |
| - -0.0 |
| - 0.0 |
| z: |
| - -0.0 |
| - 0.0 |
| 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 |
| - 0.1 |
| - 0.1 |
| - 0.1 |
| articulation_props: null |
| fixed_tendons_props: null |
| spatial_tendons_props: null |
| joint_drive_props: null |
| visual_material_path: material |
| visual_material: null |
| usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd |
| variants: null |
| 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 |
| - 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 |
| - 0.1 |
| - 0.1 |
| - 0.1 |
| articulation_props: null |
| fixed_tendons_props: null |
| spatial_tendons_props: null |
| joint_drive_props: null |
| visual_material_path: material |
| visual_material: null |
| usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd |
| variants: null |
| 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 |
| - 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 |
| 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 |
| - 0.8 |
| - 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 |
|
|
