File size: 93,773 Bytes
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eye: !!python/tuple
- -1.0
- -1.5
- 1.555
lookat: !!python/tuple
- 0.5
- 0.0
- 0.055
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: 0.005
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_physx.physics.physx_manager:PhysxManager
solver_type: 1
solve_articulation_contact_last: false
min_position_iteration_count: 1
max_position_iteration_count: 255
min_velocity_iteration_count: 0
max_velocity_iteration_count: 255
enable_scene_query_support: false
enable_ccd: false
enable_stabilization: false
enable_external_forces_every_iteration: false
enable_enhanced_determinism: false
bounce_threshold_velocity: 0.5
friction_offset_threshold: 0.04
friction_correlation_distance: 0.025
gpu_max_rigid_contact_count: 8388608
gpu_max_rigid_patch_count: 163840
gpu_found_lost_pairs_capacity: 2097152
gpu_found_lost_aggregate_pairs_capacity: 33554432
gpu_total_aggregate_pairs_capacity: 2097152
gpu_collision_stack_size: 67108864
gpu_heap_capacity: 67108864
gpu_temp_buffer_capacity: 16777216
gpu_max_num_partitions: 8
gpu_max_soft_body_contacts: 1048576
gpu_max_particle_contacts: 1048576
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: []
ui_window_class_type: isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow
seed: 42
decimation: 4
scene:
num_envs: 4096
env_spacing: 30.0
lazy_sensor_update: true
replicate_physics: false
filter_collisions: true
clone_in_fabric: false
table:
class_type: null
prim_path: /World/envs/env_.*/table
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/table/proto_asset_.*
mass_props: null
deformable_props: null
rigid_props: null
collision_props: null
activate_contact_sensors: false
scale: !!python/tuple
- 1.0
- 1.0
- 1.0
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/Mounts/SeattleLabTable/table_instanceable.usd
variants: null
init_state:
pos: !!python/tuple
- 0.5
- 0
- 0
rot: !!python/tuple
- 0
- 0
- 0.707
- 0.707
collision_group: 0
debug_vis: false
dex_cube:
class_type: isaaclab.assets.rigid_object.rigid_object:RigidObject
prim_path: /World/envs/env_.*/dex_cube
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/dex_cube/proto_asset_.*
mass_props: null
deformable_props: null
rigid_props: null
collision_props: null
activate_contact_sensors: true
scale: !!python/tuple
- 0.8
- 0.8
- 0.8
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/Blocks/DexCube/dex_cube_instanceable.usd
variants: null
init_state:
pos: !!python/tuple
- 0.5
- 0
- 0.055
rot: !!python/tuple
- 0
- 0
- 0
- 1
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
ground_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
- -1.05
rot: !!python/tuple
- 0.0
- 0.0
- 0.0
- 1.0
collision_group: 0
debug_vis: false
light:
class_type: null
prim_path: /World/Light
spawn:
func: isaaclab.sim.spawners.lights.lights:spawn_light
visible: true
semantic_tags: null
copy_from_source: true
spawn_path: /World/Light
prim_type: DomeLight
color: !!python/tuple
- 0.75
- 0.75
- 0.75
enable_color_temperature: false
color_temperature: 6500.0
normalize: false
exposure: 0.0
intensity: 3000.0
texture_file: null
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
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: false
linear_damping: null
angular_damping: null
max_linear_velocity: null
max_angular_velocity: null
max_depenetration_velocity: 5.0
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: null
activate_contact_sensors: false
scale: null
articulation_props:
articulation_enabled: null
enabled_self_collisions: true
solver_position_iteration_count: 8
solver_velocity_iteration_count: 0
sleep_threshold: null
stabilization_threshold: null
fix_root_link: null
fixed_tendons_props: null
spatial_tendons_props: null
joint_drive_props: null
visual_material_path: material
visual_material: null
usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/IsaacLab/Arena/assets/robot_library/franka_panda_hand_on_stand.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:
panda_joint1: 0.0
panda_joint2: -0.569
panda_joint3: 0.0
panda_joint4: -2.81
panda_joint5: 0.0
panda_joint6: 3.037
panda_joint7: 0.741
panda_finger_joint.*: 0.04
joint_vel:
.*: 0.0
collision_group: 0
debug_vis: false
articulation_root_prim_path: null
soft_joint_pos_limit_factor: 1.0
actuators:
panda_shoulder:
class_type: isaaclab.actuators.actuator_pd:ImplicitActuator
joint_names_expr:
- panda_joint[1-4]
effort_limit: null
velocity_limit: null
effort_limit_sim: 87.0
velocity_limit_sim: null
stiffness: 80.0
damping: 4.0
armature: 0.001
friction: null
dynamic_friction: null
viscous_friction: null
panda_forearm:
class_type: isaaclab.actuators.actuator_pd:ImplicitActuator
joint_names_expr:
- panda_joint[5-7]
effort_limit: null
velocity_limit: null
effort_limit_sim: 12.0
velocity_limit_sim: null
stiffness: 80.0
damping: 4.0
armature: 0.001
friction: null
dynamic_friction: null
viscous_friction: null
panda_hand:
class_type: isaaclab.actuators.actuator_pd:ImplicitActuator
joint_names_expr:
- panda_finger_joint.*
effort_limit: null
velocity_limit: null
effort_limit_sim: 200.0
velocity_limit_sim: null
stiffness: 2000.0
damping: 100.0
armature: null
friction: null
dynamic_friction: null
viscous_friction: null
actuator_value_resolution_debug_print: false
ee_frame:
class_type: isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer
prim_path: /World/envs/env_.*/Robot/panda_link0
update_period: 0.0
debug_vis: false
source_frame_offset:
pos: !!python/tuple
- 0.0
- 0.0
- 0.0
rot: !!python/tuple
- 0.0
- 0.0
- 0.0
- 1.0
target_frames:
- prim_path: /World/envs/env_.*/Robot/panda_hand
name: end_effector
offset:
pos:
- 0.0
- 0.0
- 0.1034
rot: !!python/tuple
- 0.0
- 0.0
- 0.0
- 1.0
- prim_path: /World/envs/env_.*/Robot/panda_rightfinger
name: tool_rightfinger
offset:
pos: !!python/tuple
- 0.0
- 0.0
- 0.046
rot: !!python/tuple
- 0.0
- 0.0
- 0.0
- 1.0
- prim_path: /World/envs/env_.*/Robot/panda_leftfinger
name: tool_leftfinger
offset:
pos: !!python/tuple
- 0.0
- 0.0
- 0.046
rot: !!python/tuple
- 0.0
- 0.0
- 0.0
- 1.0
visualizer_cfg:
prim_path: /Visuals/FrameTransformer
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
connecting_line:
func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder
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
- 1.0
- 0.0
emissive_color: !!python/tuple
- 0.0
- 0.0
- 0.0
roughness: 1.0
metallic: 0.0
opacity: 1.0
physics_material_path: material
physics_material: null
radius: 0.002
height: 1.0
axis: Z
recorders:
dataset_file_handler_class_type: isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler
dataset_export_dir_path: /tmp/isaaclab/logs
dataset_filename: dataset_20260403_034228_rank0
dataset_export_mode:
_value_: 1
_name_: EXPORT_ALL
_sort_order_: 1
export_in_record_pre_reset: true
export_in_close: false
success_rate:
class_type: isaaclab_arena.metrics.success_rate:SuccessRecorder
name: success
observations:
policy:
concatenate_terms: true
concatenate_dim: -1
enable_corruption: false
history_length: null
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
joint_pos:
func: isaaclab.envs.mdp.observations:joint_pos_rel
params: {}
modifiers: null
noise: null
clip: null
scale: null
history_length: 0
flatten_history_dim: true
joint_vel:
func: isaaclab.envs.mdp.observations:joint_vel_rel
params: {}
modifiers: null
noise: null
clip: null
scale: null
history_length: 0
flatten_history_dim: true
eef_pos:
func: isaaclab_tasks.manager_based.manipulation.stack.mdp.observations:ee_frame_pos
params: {}
modifiers: null
noise: null
clip: null
scale: null
history_length: 0
flatten_history_dim: true
eef_quat:
func: isaaclab_tasks.manager_based.manipulation.stack.mdp.observations:ee_frame_quat
params: {}
modifiers: null
noise: null
clip: null
scale: null
history_length: 0
flatten_history_dim: true
gripper_pos:
func: isaaclab_arena.embodiments.franka.observations:gripper_pos
params: {}
modifiers: null
noise: null
clip: null
scale: null
history_length: 0
flatten_history_dim: true
task_obs:
concatenate_terms: true
concatenate_dim: -1
enable_corruption: false
history_length: null
flatten_history_dim: true
target_object_position:
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
object_position:
func: isaaclab_arena.tasks.observations.observations:object_position_in_frame
params:
root_frame_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
object_cfg:
name: dex_cube
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: null
clip: null
scale: null
history_length: 0
flatten_history_dim: true
actions:
arm_action:
class_type: isaaclab.envs.mdp.actions.joint_actions:JointPositionAction
asset_name: robot
debug_vis: false
clip: null
joint_names:
- panda_joint.*
scale: 0.5
offset: 0.0
preserve_order: false
use_default_offset: true
gripper_action:
class_type: isaaclab.envs.mdp.actions.binary_joint_actions:BinaryJointPositionAction
asset_name: robot
debug_vis: false
clip: null
joint_names:
- panda_finger.*
open_command_expr:
panda_finger_.*: 0.04
close_command_expr:
panda_finger_.*: 0.0
events:
init_franka_arm_pose:
func: isaaclab_tasks.manager_based.manipulation.stack.mdp.franka_stack_events:set_default_joint_pose
params:
default_pose:
- 0.0
- -0.785
- -0.1107
- -1.1775
- 0.0
- 0.785
- 0.785
- 0.04
- 0.04
mode: reset
interval_range_s: null
is_global_time: false
min_step_count_between_reset: 0
randomize_franka_joint_state:
func: isaaclab_tasks.manager_based.manipulation.stack.mdp.franka_stack_events:randomize_joint_by_gaussian_offset
params:
mean: 0.0
std: 0.02
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
dex_cube:
func: isaaclab_arena.terms.events:set_object_pose
params:
pose:
position_xyz: !!python/tuple
- 0.5
- 0
- 0.055
rotation_xyzw: !!python/tuple
- 0
- 0
- 0
- 1
asset_cfg:
name: dex_cube
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
velocity: null
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: false
xr: null
teleop_devices: null
isaac_teleop: null
export_io_descriptors: false
log_dir: /workspaces/isaaclab_arena/logs/rsl_rl/generic_experiment/2026-04-03_03-42-29
is_finite_horizon: false
episode_length_s: 5.0
rewards:
action_rate:
func: isaaclab.envs.mdp.rewards:action_rate_l2
params: {}
weight: -0.0001
joint_vel:
func: isaaclab.envs.mdp.rewards:joint_vel_l2
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
weight: -0.0001
reaching_object:
func: isaaclab_arena.tasks.rewards.rewards:object_ee_distance
params:
std: 0.1
object_cfg:
name: dex_cube
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
ee_frame_cfg:
name: ee_frame
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
weight: 1.0
lifting_object:
func: isaaclab_arena.tasks.rewards.lift_object_rewards:object_is_lifted
params:
object_cfg:
name: dex_cube
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
minimal_height: 0.04
weight: 15.0
object_goal_tracking:
func: isaaclab_arena.tasks.rewards.lift_object_rewards:object_goal_distance
params:
std: 0.3
minimal_height: 0.04
command_name: object_pose
robot_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
object_cfg:
name: dex_cube
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
weight: 16.0
object_goal_tracking_fine_grained:
func: isaaclab_arena.tasks.rewards.lift_object_rewards:object_goal_distance
params:
std: 0.05
minimal_height: 0.04
command_name: object_pose
robot_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
object_cfg:
name: dex_cube
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
weight: 5.0
terminations:
time_out:
func: isaaclab.envs.mdp.terminations:time_out
params: {}
time_out: false
object_dropped:
func: isaaclab.envs.mdp.terminations:root_height_below_minimum
params:
minimum_height: -0.05
asset_cfg:
name: dex_cube
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
success:
func: isaaclab_arena.tasks.terminations:lift_object_rl_success
params:
object_cfg:
name: dex_cube
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
robot_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
rl_training: true
command_name: object_pose
position_tolerance: 0.05
time_out: false
curriculum: {}
commands:
object_pose:
class_type: isaaclab.envs.mdp.commands.pose_command:UniformPoseCommand
resampling_time_range: !!python/tuple
- 5.0
- 5.0
debug_vis: true
asset_name: robot
body_name: panda_hand
make_quat_unique: false
ranges:
pos_x: !!python/tuple
- 0.4
- 0.6
pos_y: !!python/tuple
- -0.25
- 0.25
pos_z: !!python/tuple
- 0.255
- 0.455
roll: !!python/tuple
- 0.0
- 0.0
pitch: !!python/tuple
- 0.0
- 0.0
yaw: !!python/tuple
- 0.0
- 0.0
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
connecting_line:
func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder
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
- 1.0
- 0.0
emissive_color: !!python/tuple
- 0.0
- 0.0
- 0.0
roughness: 1.0
metallic: 0.0
opacity: 1.0
physics_material_path: material
physics_material: null
radius: 0.002
height: 1.0
axis: Z
current_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
connecting_line:
func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder
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
- 1.0
- 0.0
emissive_color: !!python/tuple
- 0.0
- 0.0
- 0.0
roughness: 1.0
metallic: 0.0
opacity: 1.0
physics_material_path: material
physics_material: null
radius: 0.002
height: 1.0
axis: Z
metrics:
- {}
isaaclab_arena_env:
name: lift_object
scene:
assets:
table:
name: table
tags:
- background
prim_path: '{ENV_REGEX_NS}/table'
object_type:
_value_: base
_name_: BASE
_sort_order_: 0
initial_pose:
position_xyz: !!python/tuple
- 0.5
- 0
- 0
rotation_xyzw: !!python/tuple
- 0
- 0
- 0.707
- 0.707
initial_velocity: null
object_cfg:
class_type: null
prim_path: '{ENV_REGEX_NS}/table'
spawn:
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
- 1.0
- 1.0
- 1.0
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/Mounts/SeattleLabTable/table_instanceable.usd
variants: null
init_state:
pos: !!python/tuple
- 0.5
- 0
- 0
rot: !!python/tuple
- 0
- 0
- 0.707
- 0.707
collision_group: 0
debug_vis: false
event_cfg: null
relations: []
usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/Mounts/SeattleLabTable/table_instanceable.usd
scale: !!python/tuple
- 1.0
- 1.0
- 1.0
reset_pose: true
spawn_cfg_addon: {}
asset_cfg_addon: {}
bounding_box: null
object_min_z: -0.05
dex_cube:
name: dex_cube
tags:
- object
prim_path: '{ENV_REGEX_NS}/dex_cube'
object_type:
_value_: rigid
_name_: RIGID
_sort_order_: 1
initial_pose:
position_xyz: !!python/tuple
- 0.5
- 0
- 0.055
rotation_xyzw: !!python/tuple
- 0
- 0
- 0
- 1
initial_velocity: null
object_cfg:
class_type: isaaclab.assets.rigid_object.rigid_object:RigidObject
prim_path: '{ENV_REGEX_NS}/dex_cube'
spawn:
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: true
scale: !!python/tuple
- 0.8
- 0.8
- 0.8
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/Blocks/DexCube/dex_cube_instanceable.usd
variants: null
init_state:
pos: !!python/tuple
- 0.5
- 0
- 0.055
rot: !!python/tuple
- 0
- 0
- 0
- 1
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
event_cfg:
func: isaaclab_arena.terms.events:set_object_pose
params:
pose:
position_xyz: !!python/tuple
- 0.5
- 0
- 0.055
rotation_xyzw: !!python/tuple
- 0
- 0
- 0
- 1
asset_cfg:
name: dex_cube
joint_names: null
joint_ids: &id001 !!python/object/apply:builtins.slice
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_ids: &id002 !!python/object/apply:builtins.slice
- null
- null
- null
body_names: null
body_ids: &id003 !!python/object/apply:builtins.slice
- null
- null
- null
object_collection_names: null
object_collection_ids: &id004 !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: false
velocity: null
mode: reset
interval_range_s: null
is_global_time: false
min_step_count_between_reset: 0
relations: []
usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/Blocks/DexCube/dex_cube_instanceable.usd
scale: !!python/tuple
- 0.8
- 0.8
- 0.8
reset_pose: true
spawn_cfg_addon: {}
asset_cfg_addon: {}
bounding_box: null
ground_plane:
spawner_cfg:
func: isaaclab.sim.spawners.from_files.from_files:spawn_ground_plane
visible: true
semantic_tags: null
copy_from_source: true
spawn_path: null
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
name: ground_plane
tags:
- ground_plane
prim_path: /World/GroundPlane
object_type:
_value_: spawner
_name_: SPAWNER
_sort_order_: 3
initial_pose:
position_xyz: !!python/tuple
- 0.0
- 0.0
- -1.05
rotation_xyzw: !!python/tuple
- 0.0
- 0.0
- 0.0
- 1.0
initial_velocity: null
object_cfg:
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: null
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
- -1.05
rot: !!python/tuple
- 0.0
- 0.0
- 0.0
- 1.0
collision_group: 0
debug_vis: false
event_cfg: null
relations: []
usd_path: null
scale: !!python/tuple
- 1.0
- 1.0
- 1.0
reset_pose: true
spawn_cfg_addon: {}
asset_cfg_addon: {}
bounding_box: null
light:
spawner_cfg:
func: isaaclab.sim.spawners.lights.lights:spawn_light
visible: true
semantic_tags: null
copy_from_source: true
spawn_path: null
prim_type: DomeLight
color: !!python/tuple
- 0.75
- 0.75
- 0.75
enable_color_temperature: false
color_temperature: 6500.0
normalize: false
exposure: 0.0
intensity: 3000.0
texture_file: null
texture_format: automatic
visible_in_primary_ray: true
name: light
tags:
- light
prim_path: /World/Light
object_type:
_value_: spawner
_name_: SPAWNER
_sort_order_: 3
initial_pose: null
initial_velocity: null
object_cfg:
class_type: null
prim_path: /World/Light
spawn:
func: isaaclab.sim.spawners.lights.lights:spawn_light
visible: true
semantic_tags: null
copy_from_source: true
spawn_path: null
prim_type: DomeLight
color: !!python/tuple
- 0.75
- 0.75
- 0.75
enable_color_temperature: false
color_temperature: 6500.0
normalize: false
exposure: 0.0
intensity: 3000.0
texture_file: null
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
event_cfg: null
relations: []
usd_path: null
scale: !!python/tuple
- 1.0
- 1.0
- 1.0
reset_pose: true
spawn_cfg_addon: {}
asset_cfg_addon: {}
bounding_box: null
observation_cfg: null
events_cfg: null
termination_cfg: null
rewards_cfg: null
curriculum_cfg: null
commands_cfg: null
embodiment:
enable_cameras: false
initial_pose: null
concatenate_observation_terms: true
arm_mode:
_value_: single_arm
_name_: SINGLE_ARM
_sort_order_: 0
scene_config:
robot:
class_type: isaaclab.assets.articulation.articulation:Articulation
prim_path: '{ENV_REGEX_NS}/Robot'
spawn:
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:
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: 5.0
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: null
activate_contact_sensors: false
scale: null
articulation_props:
articulation_enabled: null
enabled_self_collisions: true
solver_position_iteration_count: 8
solver_velocity_iteration_count: 0
sleep_threshold: null
stabilization_threshold: null
fix_root_link: null
fixed_tendons_props: null
spatial_tendons_props: null
joint_drive_props: null
visual_material_path: material
visual_material: null
usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/IsaacLab/Arena/assets/robot_library/franka_panda_hand_on_stand.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:
panda_joint1: 0.0
panda_joint2: -0.569
panda_joint3: 0.0
panda_joint4: -2.81
panda_joint5: 0.0
panda_joint6: 3.037
panda_joint7: 0.741
panda_finger_joint.*: 0.04
joint_vel:
.*: 0.0
collision_group: 0
debug_vis: false
articulation_root_prim_path: null
soft_joint_pos_limit_factor: 1.0
actuators:
panda_shoulder:
class_type: isaaclab.actuators.actuator_pd:ImplicitActuator
joint_names_expr:
- panda_joint[1-4]
effort_limit: null
velocity_limit: null
effort_limit_sim: 87.0
velocity_limit_sim: null
stiffness: 80.0
damping: 4.0
armature: 0.001
friction: null
dynamic_friction: null
viscous_friction: null
panda_forearm:
class_type: isaaclab.actuators.actuator_pd:ImplicitActuator
joint_names_expr:
- panda_joint[5-7]
effort_limit: null
velocity_limit: null
effort_limit_sim: 12.0
velocity_limit_sim: null
stiffness: 80.0
damping: 4.0
armature: 0.001
friction: null
dynamic_friction: null
viscous_friction: null
panda_hand:
class_type: isaaclab.actuators.actuator_pd:ImplicitActuator
joint_names_expr:
- panda_finger_joint.*
effort_limit: null
velocity_limit: null
effort_limit_sim: 200.0
velocity_limit_sim: null
stiffness: 2000.0
damping: 100.0
armature: null
friction: null
dynamic_friction: null
viscous_friction: null
actuator_value_resolution_debug_print: false
ee_frame:
class_type: isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer
prim_path: '{ENV_REGEX_NS}/Robot/panda_link0'
update_period: 0.0
debug_vis: false
source_frame_offset:
pos: !!python/tuple
- 0.0
- 0.0
- 0.0
rot: !!python/tuple
- 0.0
- 0.0
- 0.0
- 1.0
target_frames:
- prim_path: '{ENV_REGEX_NS}/Robot/panda_hand'
name: end_effector
offset:
pos:
- 0.0
- 0.0
- 0.1034
rot: !!python/tuple
- 0.0
- 0.0
- 0.0
- 1.0
- prim_path: '{ENV_REGEX_NS}/Robot/panda_rightfinger'
name: tool_rightfinger
offset:
pos: !!python/tuple
- 0.0
- 0.0
- 0.046
rot: !!python/tuple
- 0.0
- 0.0
- 0.0
- 1.0
- prim_path: '{ENV_REGEX_NS}/Robot/panda_leftfinger'
name: tool_leftfinger
offset:
pos: !!python/tuple
- 0.0
- 0.0
- 0.046
rot: !!python/tuple
- 0.0
- 0.0
- 0.0
- 1.0
visualizer_cfg:
prim_path: /Visuals/FrameTransformer
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
connecting_line:
func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder
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
- 1.0
- 0.0
emissive_color: !!python/tuple
- 0.0
- 0.0
- 0.0
roughness: 1.0
metallic: 0.0
opacity: 1.0
physics_material_path: material
physics_material: null
radius: 0.002
height: 1.0
axis: Z
camera_config:
wrist_cam:
class_type: isaaclab.sensors.camera.camera:Camera
prim_path: '{ENV_REGEX_NS}/Robot/panda_hand/wrist_cam'
update_period: 0.0
debug_vis: false
offset:
pos: !!python/tuple
- 0.11
- -0.031
- -0.074
rot: !!python/tuple
- 0.0
- 0.0
- -0.66262
- -0.74896
convention: ros
spawn:
func: isaaclab.sim.spawners.sensors.sensors:spawn_camera
visible: true
semantic_tags: null
copy_from_source: true
spawn_path: null
projection_type: pinhole
clipping_range: !!python/tuple
- 0.01
- 1000000.0
focal_length: 2.8
focus_distance: 28
f_stop: 0.0
horizontal_aperture: 5.376
vertical_aperture: 3.024
horizontal_aperture_offset: 0.0
vertical_aperture_offset: 0.0
lock_camera: true
depth_clipping_behavior: none
data_types:
- rgb
width: 84
height: 84
update_latest_camera_pose: false
semantic_filter: '*:*'
colorize_semantic_segmentation: true
colorize_instance_id_segmentation: true
colorize_instance_segmentation: true
semantic_segmentation_mapping: {}
renderer_cfg:
renderer_type: isaac_rtx
_is_tiled_camera: false
_camera_offset:
position_xyz: !!python/tuple
- 0.11
- -0.031
- -0.074
rotation_xyzw: !!python/tuple
- 0.0
- 0.0
- -0.66262
- -0.74896
action_config:
arm_action:
class_type: isaaclab.envs.mdp.actions.joint_actions:JointPositionAction
asset_name: robot
debug_vis: false
clip: null
joint_names:
- panda_joint.*
scale: 0.5
offset: 0.0
preserve_order: false
use_default_offset: true
gripper_action:
class_type: isaaclab.envs.mdp.actions.binary_joint_actions:BinaryJointPositionAction
asset_name: robot
debug_vis: false
clip: null
joint_names:
- panda_finger.*
open_command_expr:
panda_finger_.*: 0.04
close_command_expr:
panda_finger_.*: 0.0
observation_config:
policy:
concatenate_terms: true
concatenate_dim: -1
enable_corruption: false
history_length: null
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
joint_pos:
func: isaaclab.envs.mdp.observations:joint_pos_rel
params: {}
modifiers: null
noise: null
clip: null
scale: null
history_length: 0
flatten_history_dim: true
joint_vel:
func: isaaclab.envs.mdp.observations:joint_vel_rel
params: {}
modifiers: null
noise: null
clip: null
scale: null
history_length: 0
flatten_history_dim: true
eef_pos:
func: isaaclab_tasks.manager_based.manipulation.stack.mdp.observations:ee_frame_pos
params: {}
modifiers: null
noise: null
clip: null
scale: null
history_length: 0
flatten_history_dim: true
eef_quat:
func: isaaclab_tasks.manager_based.manipulation.stack.mdp.observations:ee_frame_quat
params: {}
modifiers: null
noise: null
clip: null
scale: null
history_length: 0
flatten_history_dim: true
gripper_pos:
func: isaaclab_arena.embodiments.franka.observations:gripper_pos
params: {}
modifiers: null
noise: null
clip: null
scale: null
history_length: 0
flatten_history_dim: true
event_config:
init_franka_arm_pose:
func: isaaclab_tasks.manager_based.manipulation.stack.mdp.franka_stack_events:set_default_joint_pose
params:
default_pose:
- 0.0
- -0.785
- -0.1107
- -1.1775
- 0.0
- 0.785
- 0.785
- 0.04
- 0.04
mode: reset
interval_range_s: null
is_global_time: false
min_step_count_between_reset: 0
randomize_franka_joint_state:
func: isaaclab_tasks.manager_based.manipulation.stack.mdp.franka_stack_events:randomize_joint_by_gaussian_offset
params:
mean: 0.0
std: 0.02
asset_cfg:
name: robot
joint_names: null
joint_ids: &id005 !!python/object/apply:builtins.slice
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_ids: &id006 !!python/object/apply:builtins.slice
- null
- null
- null
body_names: null
body_ids: &id007 !!python/object/apply:builtins.slice
- null
- null
- null
object_collection_names: null
object_collection_ids: &id008 !!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
reward_config:
action_rate:
func: isaaclab.envs.mdp.rewards:action_rate_l2
params: {}
weight: -0.0001
joint_vel:
func: isaaclab.envs.mdp.rewards:joint_vel_l2
params:
asset_cfg:
name: robot
joint_names: null
joint_ids: &id009 !!python/object/apply:builtins.slice
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_ids: &id010 !!python/object/apply:builtins.slice
- null
- null
- null
body_names: null
body_ids: &id011 !!python/object/apply:builtins.slice
- null
- null
- null
object_collection_names: null
object_collection_ids: &id012 !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: false
weight: -0.0001
curriculum_config: null
command_config: null
mimic_env: isaaclab_arena.embodiments.franka.franka:FrankaMimicEnv
xr: null
termination_cfg: null
task:
rl_training_mode: true
minimum_height_to_lift: 0.04
target_x_range: !!python/tuple
- 0.4
- 0.6
target_y_range: !!python/tuple
- -0.25
- 0.25
target_z_range: !!python/tuple
- 0.255
- 0.455
episode_length_s: 5.0
task_description: null
lift_object:
name: dex_cube
tags:
- object
prim_path: '{ENV_REGEX_NS}/dex_cube'
object_type:
_value_: rigid
_name_: RIGID
_sort_order_: 1
initial_pose:
position_xyz: !!python/tuple
- 0.5
- 0
- 0.055
rotation_xyzw: !!python/tuple
- 0
- 0
- 0
- 1
initial_velocity: null
object_cfg:
class_type: isaaclab.assets.rigid_object.rigid_object:RigidObject
prim_path: '{ENV_REGEX_NS}/dex_cube'
spawn:
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: true
scale: !!python/tuple
- 0.8
- 0.8
- 0.8
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/Blocks/DexCube/dex_cube_instanceable.usd
variants: null
init_state:
pos: !!python/tuple
- 0.5
- 0
- 0.055
rot: !!python/tuple
- 0
- 0
- 0
- 1
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
event_cfg:
func: isaaclab_arena.terms.events:set_object_pose
params:
pose:
position_xyz: !!python/tuple
- 0.5
- 0
- 0.055
rotation_xyzw: !!python/tuple
- 0
- 0
- 0
- 1
asset_cfg:
name: dex_cube
joint_names: null
joint_ids: *id001
fixed_tendon_names: null
fixed_tendon_ids: *id002
body_names: null
body_ids: *id003
object_collection_names: null
object_collection_ids: *id004
preserve_order: false
velocity: null
mode: reset
interval_range_s: null
is_global_time: false
min_step_count_between_reset: 0
relations: []
usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/Blocks/DexCube/dex_cube_instanceable.usd
scale: !!python/tuple
- 0.8
- 0.8
- 0.8
reset_pose: true
spawn_cfg_addon: {}
asset_cfg_addon: {}
bounding_box: null
background_scene:
name: table
tags:
- background
prim_path: '{ENV_REGEX_NS}/table'
object_type:
_value_: base
_name_: BASE
_sort_order_: 0
initial_pose:
position_xyz: !!python/tuple
- 0.5
- 0
- 0
rotation_xyzw: !!python/tuple
- 0
- 0
- 0.707
- 0.707
initial_velocity: null
object_cfg:
class_type: null
prim_path: '{ENV_REGEX_NS}/table'
spawn:
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
- 1.0
- 1.0
- 1.0
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/Mounts/SeattleLabTable/table_instanceable.usd
variants: null
init_state:
pos: !!python/tuple
- 0.5
- 0
- 0
rot: !!python/tuple
- 0
- 0
- 0.707
- 0.707
collision_group: 0
debug_vis: false
event_cfg: null
relations: []
usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/Mounts/SeattleLabTable/table_instanceable.usd
scale: !!python/tuple
- 1.0
- 1.0
- 1.0
reset_pose: true
spawn_cfg_addon: {}
asset_cfg_addon: {}
bounding_box: null
object_min_z: -0.05
goal_position_xyz: !!python/tuple
- 0.5
- 0
- 0.055
goal_position_tolerance: 0.05
scene_config: null
events_cfg: null
termination_cfg:
time_out:
func: isaaclab.envs.mdp.terminations:time_out
params: {}
time_out: false
object_dropped:
func: isaaclab.envs.mdp.terminations:root_height_below_minimum
params:
minimum_height: -0.05
asset_cfg:
name: dex_cube
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
success:
func: isaaclab_arena.tasks.terminations:lift_object_rl_success
params:
object_cfg:
name: dex_cube
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
robot_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
rl_training: true
command_name: object_pose
position_tolerance: 0.05
time_out: false
embodiment:
enable_cameras: false
initial_pose: null
concatenate_observation_terms: true
arm_mode:
_value_: single_arm
_name_: SINGLE_ARM
_sort_order_: 0
scene_config:
robot:
class_type: isaaclab.assets.articulation.articulation:Articulation
prim_path: '{ENV_REGEX_NS}/Robot'
spawn:
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:
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: 5.0
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: null
activate_contact_sensors: false
scale: null
articulation_props:
articulation_enabled: null
enabled_self_collisions: true
solver_position_iteration_count: 8
solver_velocity_iteration_count: 0
sleep_threshold: null
stabilization_threshold: null
fix_root_link: null
fixed_tendons_props: null
spatial_tendons_props: null
joint_drive_props: null
visual_material_path: material
visual_material: null
usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/IsaacLab/Arena/assets/robot_library/franka_panda_hand_on_stand.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:
panda_joint1: 0.0
panda_joint2: -0.569
panda_joint3: 0.0
panda_joint4: -2.81
panda_joint5: 0.0
panda_joint6: 3.037
panda_joint7: 0.741
panda_finger_joint.*: 0.04
joint_vel:
.*: 0.0
collision_group: 0
debug_vis: false
articulation_root_prim_path: null
soft_joint_pos_limit_factor: 1.0
actuators:
panda_shoulder:
class_type: isaaclab.actuators.actuator_pd:ImplicitActuator
joint_names_expr:
- panda_joint[1-4]
effort_limit: null
velocity_limit: null
effort_limit_sim: 87.0
velocity_limit_sim: null
stiffness: 80.0
damping: 4.0
armature: 0.001
friction: null
dynamic_friction: null
viscous_friction: null
panda_forearm:
class_type: isaaclab.actuators.actuator_pd:ImplicitActuator
joint_names_expr:
- panda_joint[5-7]
effort_limit: null
velocity_limit: null
effort_limit_sim: 12.0
velocity_limit_sim: null
stiffness: 80.0
damping: 4.0
armature: 0.001
friction: null
dynamic_friction: null
viscous_friction: null
panda_hand:
class_type: isaaclab.actuators.actuator_pd:ImplicitActuator
joint_names_expr:
- panda_finger_joint.*
effort_limit: null
velocity_limit: null
effort_limit_sim: 200.0
velocity_limit_sim: null
stiffness: 2000.0
damping: 100.0
armature: null
friction: null
dynamic_friction: null
viscous_friction: null
actuator_value_resolution_debug_print: false
ee_frame:
class_type: isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer
prim_path: '{ENV_REGEX_NS}/Robot/panda_link0'
update_period: 0.0
debug_vis: false
source_frame_offset:
pos: !!python/tuple
- 0.0
- 0.0
- 0.0
rot: !!python/tuple
- 0.0
- 0.0
- 0.0
- 1.0
target_frames:
- prim_path: '{ENV_REGEX_NS}/Robot/panda_hand'
name: end_effector
offset:
pos:
- 0.0
- 0.0
- 0.1034
rot: !!python/tuple
- 0.0
- 0.0
- 0.0
- 1.0
- prim_path: '{ENV_REGEX_NS}/Robot/panda_rightfinger'
name: tool_rightfinger
offset:
pos: !!python/tuple
- 0.0
- 0.0
- 0.046
rot: !!python/tuple
- 0.0
- 0.0
- 0.0
- 1.0
- prim_path: '{ENV_REGEX_NS}/Robot/panda_leftfinger'
name: tool_leftfinger
offset:
pos: !!python/tuple
- 0.0
- 0.0
- 0.046
rot: !!python/tuple
- 0.0
- 0.0
- 0.0
- 1.0
visualizer_cfg:
prim_path: /Visuals/FrameTransformer
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
connecting_line:
func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder
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
- 1.0
- 0.0
emissive_color: !!python/tuple
- 0.0
- 0.0
- 0.0
roughness: 1.0
metallic: 0.0
opacity: 1.0
physics_material_path: material
physics_material: null
radius: 0.002
height: 1.0
axis: Z
camera_config:
wrist_cam:
class_type: isaaclab.sensors.camera.camera:Camera
prim_path: '{ENV_REGEX_NS}/Robot/panda_hand/wrist_cam'
update_period: 0.0
debug_vis: false
offset:
pos: !!python/tuple
- 0.11
- -0.031
- -0.074
rot: !!python/tuple
- 0.0
- 0.0
- -0.66262
- -0.74896
convention: ros
spawn:
func: isaaclab.sim.spawners.sensors.sensors:spawn_camera
visible: true
semantic_tags: null
copy_from_source: true
spawn_path: null
projection_type: pinhole
clipping_range: !!python/tuple
- 0.01
- 1000000.0
focal_length: 2.8
focus_distance: 28
f_stop: 0.0
horizontal_aperture: 5.376
vertical_aperture: 3.024
horizontal_aperture_offset: 0.0
vertical_aperture_offset: 0.0
lock_camera: true
depth_clipping_behavior: none
data_types:
- rgb
width: 84
height: 84
update_latest_camera_pose: false
semantic_filter: '*:*'
colorize_semantic_segmentation: true
colorize_instance_id_segmentation: true
colorize_instance_segmentation: true
semantic_segmentation_mapping: {}
renderer_cfg:
renderer_type: isaac_rtx
_is_tiled_camera: false
_camera_offset:
position_xyz: !!python/tuple
- 0.11
- -0.031
- -0.074
rotation_xyzw: !!python/tuple
- 0.0
- 0.0
- -0.66262
- -0.74896
action_config:
arm_action:
class_type: isaaclab.envs.mdp.actions.joint_actions:JointPositionAction
asset_name: robot
debug_vis: false
clip: null
joint_names:
- panda_joint.*
scale: 0.5
offset: 0.0
preserve_order: false
use_default_offset: true
gripper_action:
class_type: isaaclab.envs.mdp.actions.binary_joint_actions:BinaryJointPositionAction
asset_name: robot
debug_vis: false
clip: null
joint_names:
- panda_finger.*
open_command_expr:
panda_finger_.*: 0.04
close_command_expr:
panda_finger_.*: 0.0
observation_config:
policy:
concatenate_terms: true
concatenate_dim: -1
enable_corruption: false
history_length: null
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
joint_pos:
func: isaaclab.envs.mdp.observations:joint_pos_rel
params: {}
modifiers: null
noise: null
clip: null
scale: null
history_length: 0
flatten_history_dim: true
joint_vel:
func: isaaclab.envs.mdp.observations:joint_vel_rel
params: {}
modifiers: null
noise: null
clip: null
scale: null
history_length: 0
flatten_history_dim: true
eef_pos:
func: isaaclab_tasks.manager_based.manipulation.stack.mdp.observations:ee_frame_pos
params: {}
modifiers: null
noise: null
clip: null
scale: null
history_length: 0
flatten_history_dim: true
eef_quat:
func: isaaclab_tasks.manager_based.manipulation.stack.mdp.observations:ee_frame_quat
params: {}
modifiers: null
noise: null
clip: null
scale: null
history_length: 0
flatten_history_dim: true
gripper_pos:
func: isaaclab_arena.embodiments.franka.observations:gripper_pos
params: {}
modifiers: null
noise: null
clip: null
scale: null
history_length: 0
flatten_history_dim: true
event_config:
init_franka_arm_pose:
func: isaaclab_tasks.manager_based.manipulation.stack.mdp.franka_stack_events:set_default_joint_pose
params:
default_pose:
- 0.0
- -0.785
- -0.1107
- -1.1775
- 0.0
- 0.785
- 0.785
- 0.04
- 0.04
mode: reset
interval_range_s: null
is_global_time: false
min_step_count_between_reset: 0
randomize_franka_joint_state:
func: isaaclab_tasks.manager_based.manipulation.stack.mdp.franka_stack_events:randomize_joint_by_gaussian_offset
params:
mean: 0.0
std: 0.02
asset_cfg:
name: robot
joint_names: null
joint_ids: *id005
fixed_tendon_names: null
fixed_tendon_ids: *id006
body_names: null
body_ids: *id007
object_collection_names: null
object_collection_ids: *id008
preserve_order: false
mode: reset
interval_range_s: null
is_global_time: false
min_step_count_between_reset: 0
reward_config:
action_rate:
func: isaaclab.envs.mdp.rewards:action_rate_l2
params: {}
weight: -0.0001
joint_vel:
func: isaaclab.envs.mdp.rewards:joint_vel_l2
params:
asset_cfg:
name: robot
joint_names: null
joint_ids: *id009
fixed_tendon_names: null
fixed_tendon_ids: *id010
body_names: null
body_ids: *id011
object_collection_names: null
object_collection_ids: *id012
preserve_order: false
weight: -0.0001
curriculum_config: null
command_config: null
mimic_env: isaaclab_arena.embodiments.franka.franka:FrankaMimicEnv
xr: null
termination_cfg: null
observation_cfg:
task_obs:
concatenate_terms: true
concatenate_dim: -1
enable_corruption: false
history_length: null
flatten_history_dim: true
target_object_position:
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
object_position:
func: isaaclab_arena.tasks.observations.observations:object_position_in_frame
params:
root_frame_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
object_cfg:
name: dex_cube
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: null
clip: null
scale: null
history_length: 0
flatten_history_dim: true
commands_cfg:
object_pose:
class_type: isaaclab.envs.mdp.commands.pose_command:UniformPoseCommand
resampling_time_range: !!python/tuple
- 5.0
- 5.0
debug_vis: true
asset_name: robot
body_name: panda_hand
make_quat_unique: false
ranges:
pos_x: !!python/tuple
- 0.4
- 0.6
pos_y: !!python/tuple
- -0.25
- 0.25
pos_z: !!python/tuple
- 0.255
- 0.455
roll: !!python/tuple
- 0.0
- 0.0
pitch: !!python/tuple
- 0.0
- 0.0
yaw: !!python/tuple
- 0.0
- 0.0
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
connecting_line:
func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder
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
- 1.0
- 0.0
emissive_color: !!python/tuple
- 0.0
- 0.0
- 0.0
roughness: 1.0
metallic: 0.0
opacity: 1.0
physics_material_path: material
physics_material: null
radius: 0.002
height: 1.0
axis: Z
current_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
connecting_line:
func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder
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
- 1.0
- 0.0
emissive_color: !!python/tuple
- 0.0
- 0.0
- 0.0
roughness: 1.0
metallic: 0.0
opacity: 1.0
physics_material_path: material
physics_material: null
radius: 0.002
height: 1.0
axis: Z
rewards_cfg:
reaching_object:
func: isaaclab_arena.tasks.rewards.rewards:object_ee_distance
params:
std: 0.1
object_cfg:
name: dex_cube
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
ee_frame_cfg:
name: ee_frame
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
weight: 1.0
lifting_object:
func: isaaclab_arena.tasks.rewards.lift_object_rewards:object_is_lifted
params:
object_cfg:
name: dex_cube
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
minimal_height: 0.04
weight: 15.0
object_goal_tracking:
func: isaaclab_arena.tasks.rewards.lift_object_rewards:object_goal_distance
params:
std: 0.3
minimal_height: 0.04
command_name: object_pose
robot_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
object_cfg:
name: dex_cube
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
weight: 16.0
object_goal_tracking_fine_grained:
func: isaaclab_arena.tasks.rewards.lift_object_rewards:object_goal_distance
params:
std: 0.05
minimal_height: 0.04
command_name: object_pose
robot_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
object_cfg:
name: dex_cube
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
weight: 5.0
teleop_device: null
orchestrator: null
env_cfg_callback: null
rl_framework:
_value_: rsl_rl
_name_: RSL_RL
_sort_order_: 0
rl_policy_cfg: isaaclab_arena_examples.policy.base_rsl_rl_policy:RLPolicyCfg
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