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