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params/agent.yaml

@@ -0,0 +1,56 @@
+seed: 42
+device: cuda:0
+num_steps_per_env: 24
+max_iterations: 10000
+empirical_normalization: null
+obs_groups:
+  policy:
+  - policy
+  - task_obs
+  critic:
+  - policy
+  - task_obs
+clip_actions: null
+save_interval: 200
+experiment_name: generic_experiment
+run_name: ''
+logger: tensorboard
+neptune_project: isaaclab
+wandb_project: isaaclab
+resume: false
+load_run: .*
+load_checkpoint: model_.*.pt
+class_name: OnPolicyRunner
+policy:
+  class_name: ActorCritic
+  init_noise_std: 1.0
+  noise_std_type: scalar
+  state_dependent_std: false
+  actor_obs_normalization: false
+  critic_obs_normalization: false
+  actor_hidden_dims:
+  - 256
+  - 128
+  - 64
+  critic_hidden_dims:
+  - 256
+  - 128
+  - 64
+  activation: elu
+algorithm:
+  class_name: PPO
+  num_learning_epochs: 5
+  num_mini_batches: 4
+  learning_rate: 0.0001
+  schedule: adaptive
+  gamma: 0.98
+  lam: 0.95
+  entropy_coef: 0.006
+  desired_kl: 0.01
+  max_grad_norm: 1.0
+  value_loss_coef: 1.0
+  use_clipped_value_loss: true
+  clip_param: 0.2
+  normalize_advantage_per_mini_batch: false
+  rnd_cfg: null
+  symmetry_cfg: null

params/env.yaml

@@ -0,0 +1,3121 @@
+viewer:
+  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:
+  physics_prim_path: /physicsScene
+  device: cuda:0
+  dt: 0.005
+  render_interval: 2
+  gravity: !!python/tuple
+  - 0.0
+  - 0.0
+  - -9.81
+  enable_scene_query_support: false
+  use_fabric: true
+  physx:
+    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_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
+  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
+  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
+ui_window_class_type: isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow
+seed: 42
+decimation: 4
+scene:
+  num_envs: 512
+  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
+      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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/Mounts/SeattleLabTable/table_instanceable.usd
+      variants: null
+    init_state:
+      pos: !!python/tuple
+      - 0.5
+      - 0
+      - 0
+      rot: !!python/tuple
+      - 0.707
+      - 0
+      - 0
+      - 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
+      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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/Blocks/DexCube/dex_cube_instanceable.usd
+      variants: null
+    init_state:
+      pos: !!python/tuple
+      - 0.5
+      - 0
+      - 0.055
+      rot: !!python/tuple
+      - 1
+      - 0
+      - 0
+      - 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
+  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
+      usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/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
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+    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
+      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
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+    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
+      mass_props: null
+      deformable_props: null
+      rigid_props:
+        rigid_body_enabled: null
+        kinematic_enabled: null
+        disable_gravity: true
+        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
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+      lin_vel: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      ang_vel: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      joint_pos:
+        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: 400.0
+        damping: 80.0
+        armature: null
+        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: 400.0
+        damping: 80.0
+        armature: null
+        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
+    history_length: 0
+    debug_vis: false
+    source_frame_offset:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+    target_frames:
+    - prim_path: /World/envs/env_.*/Robot/panda_hand
+      name: end_effector
+      offset:
+        pos:
+        - 0.0
+        - 0.0
+        - 0.1034
+        rot: !!python/tuple
+        - 1.0
+        - 0.0
+        - 0.0
+        - 0.0
+    - prim_path: /World/envs/env_.*/Robot/panda_rightfinger
+      name: tool_rightfinger
+      offset:
+        pos: !!python/tuple
+        - 0.0
+        - 0.0
+        - 0.046
+        rot: !!python/tuple
+        - 1.0
+        - 0.0
+        - 0.0
+        - 0.0
+    - prim_path: /World/envs/env_.*/Robot/panda_leftfinger
+      name: tool_leftfinger
+      offset:
+        pos: !!python/tuple
+        - 0.0
+        - 0.0
+        - 0.046
+        rot: !!python/tuple
+        - 1.0
+        - 0.0
+        - 0.0
+        - 0.0
+    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
+          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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/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
+          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_20260326_084103_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.task_space_actions:DifferentialInverseKinematicsAction
+    asset_name: robot
+    debug_vis: false
+    clip: null
+    joint_names:
+    - panda_joint.*
+    body_name: panda_hand
+    body_offset:
+      pos:
+      - 0.0
+      - 0.0
+      - 0.107
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+    scale: 0.5
+    controller:
+      class_type: isaaclab.controllers.differential_ik:DifferentialIKController
+      command_type: pose
+      use_relative_mode: true
+      ik_method: dls
+      ik_params:
+        lambda_val: 0.01
+  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_wxyz: !!python/tuple
+        - 1
+        - 0
+        - 0
+        - 0
+      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
+export_io_descriptors: false
+log_dir: /workspaces/isaaclab_arena/logs/rsl_rl/generic_experiment/2026-03-26_08-41-05
+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
+      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
+          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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/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
+          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
+          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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/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
+          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_wxyz: !!python/tuple
+          - 0.707
+          - 0
+          - 0
+          - 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
+            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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/Mounts/SeattleLabTable/table_instanceable.usd
+            variants: null
+          init_state:
+            pos: !!python/tuple
+            - 0.5
+            - 0
+            - 0
+            rot: !!python/tuple
+            - 0.707
+            - 0
+            - 0
+            - 0.707
+          collision_group: 0
+          debug_vis: false
+        event_cfg: null
+        relations: []
+        usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/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_wxyz: !!python/tuple
+          - 1
+          - 0
+          - 0
+          - 0
+        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
+            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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/Blocks/DexCube/dex_cube_instanceable.usd
+            variants: null
+          init_state:
+            pos: !!python/tuple
+            - 0.5
+            - 0
+            - 0.055
+            rot: !!python/tuple
+            - 1
+            - 0
+            - 0
+            - 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
+        event_cfg:
+          func: isaaclab_arena.terms.events:set_object_pose
+          params:
+            pose:
+              position_xyz: !!python/tuple
+              - 0.5
+              - 0
+              - 0.055
+              rotation_wxyz: !!python/tuple
+              - 1
+              - 0
+              - 0
+              - 0
+            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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/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
+          usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/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_wxyz: !!python/tuple
+          - 1.0
+          - 0.0
+          - 0.0
+          - 0.0
+        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
+            usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/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
+            - 1.0
+            - 0.0
+            - 0.0
+            - 0.0
+          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
+          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
+            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
+            - 1.0
+            - 0.0
+            - 0.0
+            - 0.0
+          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
+          mass_props: null
+          deformable_props: null
+          rigid_props:
+            rigid_body_enabled: null
+            kinematic_enabled: null
+            disable_gravity: true
+            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
+          - 1.0
+          - 0.0
+          - 0.0
+          - 0.0
+          lin_vel: !!python/tuple
+          - 0.0
+          - 0.0
+          - 0.0
+          ang_vel: !!python/tuple
+          - 0.0
+          - 0.0
+          - 0.0
+          joint_pos:
+            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: 400.0
+            damping: 80.0
+            armature: null
+            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: 400.0
+            damping: 80.0
+            armature: null
+            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
+        history_length: 0
+        debug_vis: false
+        source_frame_offset:
+          pos: !!python/tuple
+          - 0.0
+          - 0.0
+          - 0.0
+          rot: !!python/tuple
+          - 1.0
+          - 0.0
+          - 0.0
+          - 0.0
+        target_frames:
+        - prim_path: '{ENV_REGEX_NS}/Robot/panda_hand'
+          name: end_effector
+          offset:
+            pos:
+            - 0.0
+            - 0.0
+            - 0.1034
+            rot: !!python/tuple
+            - 1.0
+            - 0.0
+            - 0.0
+            - 0.0
+        - prim_path: '{ENV_REGEX_NS}/Robot/panda_rightfinger'
+          name: tool_rightfinger
+          offset:
+            pos: !!python/tuple
+            - 0.0
+            - 0.0
+            - 0.046
+            rot: !!python/tuple
+            - 1.0
+            - 0.0
+            - 0.0
+            - 0.0
+        - prim_path: '{ENV_REGEX_NS}/Robot/panda_leftfinger'
+          name: tool_leftfinger
+          offset:
+            pos: !!python/tuple
+            - 0.0
+            - 0.0
+            - 0.046
+            rot: !!python/tuple
+            - 1.0
+            - 0.0
+            - 0.0
+            - 0.0
+        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
+              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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/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
+              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
+        history_length: 0
+        debug_vis: false
+        offset:
+          pos: !!python/tuple
+          - 0.11
+          - -0.031
+          - -0.074
+          rot: !!python/tuple
+          - -0.74896
+          - 0.0
+          - 0.0
+          - -0.66262
+          convention: ros
+        spawn:
+          func: isaaclab.sim.spawners.sensors.sensors:spawn_camera
+          visible: true
+          semantic_tags: null
+          copy_from_source: true
+          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: {}
+      _is_tiled_camera: false
+      _camera_offset:
+        position_xyz: !!python/tuple
+        - 0.11
+        - -0.031
+        - -0.074
+        rotation_wxyz: !!python/tuple
+        - -0.74896
+        - 0.0
+        - 0.0
+        - -0.66262
+    action_config:
+      arm_action:
+        class_type: isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction
+        asset_name: robot
+        debug_vis: false
+        clip: null
+        joint_names:
+        - panda_joint.*
+        body_name: panda_hand
+        body_offset:
+          pos:
+          - 0.0
+          - 0.0
+          - 0.107
+          rot: !!python/tuple
+          - 1.0
+          - 0.0
+          - 0.0
+          - 0.0
+        scale: 0.5
+        controller:
+          class_type: isaaclab.controllers.differential_ik:DifferentialIKController
+          command_type: pose
+          use_relative_mode: true
+          ik_method: dls
+          ik_params:
+            lambda_val: 0.01
+      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_wxyz: !!python/tuple
+        - 1
+        - 0
+        - 0
+        - 0
+      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
+          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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/Blocks/DexCube/dex_cube_instanceable.usd
+          variants: null
+        init_state:
+          pos: !!python/tuple
+          - 0.5
+          - 0
+          - 0.055
+          rot: !!python/tuple
+          - 1
+          - 0
+          - 0
+          - 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
+      event_cfg:
+        func: isaaclab_arena.terms.events:set_object_pose
+        params:
+          pose:
+            position_xyz: !!python/tuple
+            - 0.5
+            - 0
+            - 0.055
+            rotation_wxyz: !!python/tuple
+            - 1
+            - 0
+            - 0
+            - 0
+          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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/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_wxyz: !!python/tuple
+        - 0.707
+        - 0
+        - 0
+        - 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
+          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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/Mounts/SeattleLabTable/table_instanceable.usd
+          variants: null
+        init_state:
+          pos: !!python/tuple
+          - 0.5
+          - 0
+          - 0
+          rot: !!python/tuple
+          - 0.707
+          - 0
+          - 0
+          - 0.707
+        collision_group: 0
+        debug_vis: false
+      event_cfg: null
+      relations: []
+      usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/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
+          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
+            mass_props: null
+            deformable_props: null
+            rigid_props:
+              rigid_body_enabled: null
+              kinematic_enabled: null
+              disable_gravity: true
+              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
+            - 1.0
+            - 0.0
+            - 0.0
+            - 0.0
+            lin_vel: !!python/tuple
+            - 0.0
+            - 0.0
+            - 0.0
+            ang_vel: !!python/tuple
+            - 0.0
+            - 0.0
+            - 0.0
+            joint_pos:
+              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: 400.0
+              damping: 80.0
+              armature: null
+              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: 400.0
+              damping: 80.0
+              armature: null
+              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
+          history_length: 0
+          debug_vis: false
+          source_frame_offset:
+            pos: !!python/tuple
+            - 0.0
+            - 0.0
+            - 0.0
+            rot: !!python/tuple
+            - 1.0
+            - 0.0
+            - 0.0
+            - 0.0
+          target_frames:
+          - prim_path: '{ENV_REGEX_NS}/Robot/panda_hand'
+            name: end_effector
+            offset:
+              pos:
+              - 0.0
+              - 0.0
+              - 0.1034
+              rot: !!python/tuple
+              - 1.0
+              - 0.0
+              - 0.0
+              - 0.0
+          - prim_path: '{ENV_REGEX_NS}/Robot/panda_rightfinger'
+            name: tool_rightfinger
+            offset:
+              pos: !!python/tuple
+              - 0.0
+              - 0.0
+              - 0.046
+              rot: !!python/tuple
+              - 1.0
+              - 0.0
+              - 0.0
+              - 0.0
+          - prim_path: '{ENV_REGEX_NS}/Robot/panda_leftfinger'
+            name: tool_leftfinger
+            offset:
+              pos: !!python/tuple
+              - 0.0
+              - 0.0
+              - 0.046
+              rot: !!python/tuple
+              - 1.0
+              - 0.0
+              - 0.0
+              - 0.0
+          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
+                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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/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
+                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
+          history_length: 0
+          debug_vis: false
+          offset:
+            pos: !!python/tuple
+            - 0.11
+            - -0.031
+            - -0.074
+            rot: !!python/tuple
+            - -0.74896
+            - 0.0
+            - 0.0
+            - -0.66262
+            convention: ros
+          spawn:
+            func: isaaclab.sim.spawners.sensors.sensors:spawn_camera
+            visible: true
+            semantic_tags: null
+            copy_from_source: true
+            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: {}
+        _is_tiled_camera: false
+        _camera_offset:
+          position_xyz: !!python/tuple
+          - 0.11
+          - -0.031
+          - -0.074
+          rotation_wxyz: !!python/tuple
+          - -0.74896
+          - 0.0
+          - 0.0
+          - -0.66262
+      action_config:
+        arm_action:
+          class_type: isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction
+          asset_name: robot
+          debug_vis: false
+          clip: null
+          joint_names:
+          - panda_joint.*
+          body_name: panda_hand
+          body_offset:
+            pos:
+            - 0.0
+            - 0.0
+            - 0.107
+            rot: !!python/tuple
+            - 1.0
+            - 0.0
+            - 0.0
+            - 0.0
+          scale: 0.5
+          controller:
+            class_type: isaaclab.controllers.differential_ik:DifferentialIKController
+            command_type: pose
+            use_relative_mode: true
+            ik_method: dls
+            ik_params:
+              lambda_val: 0.01
+        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
+              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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/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
+              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
+              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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/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
+              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