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: device: cuda:0 dt: 0.005 gravity: !!python/tuple - 0.0 - 0.0 - -9.81 physics_prim_path: /physicsScene physics_material: func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material static_friction: 0.5 dynamic_friction: 0.5 restitution: 0.0 friction_combine_mode: average restitution_combine_mode: average compliant_contact_stiffness: 0.0 compliant_contact_damping: 0.0 use_fabric: true render_interval: 2 enable_scene_query_support: false physics: class_type: isaaclab_physx.physics.physx_manager:PhysxManager solver_type: 1 solve_articulation_contact_last: false min_position_iteration_count: 1 max_position_iteration_count: 255 min_velocity_iteration_count: 0 max_velocity_iteration_count: 255 enable_scene_query_support: false enable_ccd: false enable_stabilization: false enable_external_forces_every_iteration: false enable_enhanced_determinism: false bounce_threshold_velocity: 0.5 friction_offset_threshold: 0.04 friction_correlation_distance: 0.025 gpu_max_rigid_contact_count: 8388608 gpu_max_rigid_patch_count: 163840 gpu_found_lost_pairs_capacity: 2097152 gpu_found_lost_aggregate_pairs_capacity: 33554432 gpu_total_aggregate_pairs_capacity: 2097152 gpu_collision_stack_size: 67108864 gpu_heap_capacity: 67108864 gpu_temp_buffer_capacity: 16777216 gpu_max_num_partitions: 8 gpu_max_soft_body_contacts: 1048576 gpu_max_particle_contacts: 1048576 render: enable_translucency: null enable_reflections: null enable_global_illumination: null antialiasing_mode: null enable_dlssg: null enable_dl_denoiser: null dlss_mode: null enable_direct_lighting: null samples_per_pixel: null enable_shadows: null enable_ambient_occlusion: null dome_light_upper_lower_strategy: null carb_settings: null rendering_mode: null create_stage_in_memory: false logging_level: WARNING save_logs_to_file: true log_dir: null visualizer_cfgs: [] ui_window_class_type: isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow seed: 42 decimation: 4 scene: num_envs: 4096 env_spacing: 30.0 lazy_sensor_update: true replicate_physics: false filter_collisions: true clone_in_fabric: false table: class_type: null prim_path: /World/envs/env_.*/table spawn: func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd visible: true semantic_tags: null copy_from_source: true spawn_path: /World/template/table/proto_asset_.* mass_props: null deformable_props: null rigid_props: null collision_props: null activate_contact_sensors: false scale: !!python/tuple - 1.0 - 1.0 - 1.0 articulation_props: null fixed_tendons_props: null spatial_tendons_props: null joint_drive_props: null visual_material_path: material visual_material: null usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/Mounts/SeattleLabTable/table_instanceable.usd variants: null init_state: pos: !!python/tuple - 0.5 - 0 - 0 rot: !!python/tuple - 0 - 0 - 0.707 - 0.707 collision_group: 0 debug_vis: false dex_cube: class_type: isaaclab.assets.rigid_object.rigid_object:RigidObject prim_path: /World/envs/env_.*/dex_cube spawn: func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd visible: true semantic_tags: null copy_from_source: true spawn_path: /World/template/dex_cube/proto_asset_.* mass_props: null deformable_props: null rigid_props: null collision_props: null activate_contact_sensors: true scale: !!python/tuple - 0.8 - 0.8 - 0.8 articulation_props: null fixed_tendons_props: null spatial_tendons_props: null joint_drive_props: null visual_material_path: material visual_material: null usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/Blocks/DexCube/dex_cube_instanceable.usd variants: null init_state: pos: !!python/tuple - 0.5 - 0 - 0.055 rot: !!python/tuple - 0 - 0 - 0 - 1 lin_vel: !!python/tuple - 0.0 - 0.0 - 0.0 ang_vel: !!python/tuple - 0.0 - 0.0 - 0.0 collision_group: 0 debug_vis: false ground_plane: class_type: null prim_path: /World/GroundPlane spawn: func: isaaclab.sim.spawners.from_files.from_files:spawn_ground_plane visible: true semantic_tags: null copy_from_source: true spawn_path: /World/GroundPlane usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Environments/Grid/default_environment.usd color: !!python/tuple - 0.0 - 0.0 - 0.0 size: !!python/tuple - 100.0 - 100.0 physics_material: func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material static_friction: 0.5 dynamic_friction: 0.5 restitution: 0.0 friction_combine_mode: average restitution_combine_mode: average compliant_contact_stiffness: 0.0 compliant_contact_damping: 0.0 init_state: pos: !!python/tuple - 0.0 - 0.0 - -1.05 rot: !!python/tuple - 0.0 - 0.0 - 0.0 - 1.0 collision_group: 0 debug_vis: false light: class_type: null prim_path: /World/Light spawn: func: isaaclab.sim.spawners.lights.lights:spawn_light visible: true semantic_tags: null copy_from_source: true spawn_path: /World/Light prim_type: DomeLight color: !!python/tuple - 0.75 - 0.75 - 0.75 enable_color_temperature: false color_temperature: 6500.0 normalize: false exposure: 0.0 intensity: 3000.0 texture_file: null texture_format: automatic visible_in_primary_ray: true init_state: pos: !!python/tuple - 0.0 - 0.0 - 0.0 rot: !!python/tuple - 0.0 - 0.0 - 0.0 - 1.0 collision_group: 0 debug_vis: false robot: class_type: isaaclab.assets.articulation.articulation:Articulation prim_path: /World/envs/env_.*/Robot spawn: func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd visible: true semantic_tags: null copy_from_source: true spawn_path: /World/template/Robot/proto_asset_.* mass_props: null deformable_props: null rigid_props: rigid_body_enabled: null kinematic_enabled: null disable_gravity: false linear_damping: null angular_damping: null max_linear_velocity: null max_angular_velocity: null max_depenetration_velocity: 5.0 max_contact_impulse: null enable_gyroscopic_forces: null retain_accelerations: null solver_position_iteration_count: null solver_velocity_iteration_count: null sleep_threshold: null stabilization_threshold: null collision_props: null activate_contact_sensors: false scale: null articulation_props: articulation_enabled: null enabled_self_collisions: true solver_position_iteration_count: 8 solver_velocity_iteration_count: 0 sleep_threshold: null stabilization_threshold: null fix_root_link: null fixed_tendons_props: null spatial_tendons_props: null joint_drive_props: null visual_material_path: material visual_material: null usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/IsaacLab/Arena/assets/robot_library/franka_panda_hand_on_stand.usd variants: null init_state: pos: !!python/tuple - 0.0 - 0.0 - 0.0 rot: !!python/tuple - 0.0 - 0.0 - 0.0 - 1.0 lin_vel: !!python/tuple - 0.0 - 0.0 - 0.0 ang_vel: !!python/tuple - 0.0 - 0.0 - 0.0 joint_pos: panda_joint1: 0.0 panda_joint2: -0.569 panda_joint3: 0.0 panda_joint4: -2.81 panda_joint5: 0.0 panda_joint6: 3.037 panda_joint7: 0.741 panda_finger_joint.*: 0.04 joint_vel: .*: 0.0 collision_group: 0 debug_vis: false articulation_root_prim_path: null soft_joint_pos_limit_factor: 1.0 actuators: panda_shoulder: class_type: isaaclab.actuators.actuator_pd:ImplicitActuator joint_names_expr: - panda_joint[1-4] effort_limit: null velocity_limit: null effort_limit_sim: 87.0 velocity_limit_sim: null stiffness: 80.0 damping: 4.0 armature: 0.001 friction: null dynamic_friction: null viscous_friction: null panda_forearm: class_type: isaaclab.actuators.actuator_pd:ImplicitActuator joint_names_expr: - panda_joint[5-7] effort_limit: null velocity_limit: null effort_limit_sim: 12.0 velocity_limit_sim: null stiffness: 80.0 damping: 4.0 armature: 0.001 friction: null dynamic_friction: null viscous_friction: null panda_hand: class_type: isaaclab.actuators.actuator_pd:ImplicitActuator joint_names_expr: - panda_finger_joint.* effort_limit: null velocity_limit: null effort_limit_sim: 200.0 velocity_limit_sim: null stiffness: 2000.0 damping: 100.0 armature: null friction: null dynamic_friction: null viscous_friction: null actuator_value_resolution_debug_print: false ee_frame: class_type: isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer prim_path: /World/envs/env_.*/Robot/panda_link0 update_period: 0.0 debug_vis: false source_frame_offset: pos: !!python/tuple - 0.0 - 0.0 - 0.0 rot: !!python/tuple - 0.0 - 0.0 - 0.0 - 1.0 target_frames: - prim_path: /World/envs/env_.*/Robot/panda_hand name: end_effector offset: pos: - 0.0 - 0.0 - 0.1034 rot: !!python/tuple - 0.0 - 0.0 - 0.0 - 1.0 - prim_path: /World/envs/env_.*/Robot/panda_rightfinger name: tool_rightfinger offset: pos: !!python/tuple - 0.0 - 0.0 - 0.046 rot: !!python/tuple - 0.0 - 0.0 - 0.0 - 1.0 - prim_path: /World/envs/env_.*/Robot/panda_leftfinger name: tool_leftfinger offset: pos: !!python/tuple - 0.0 - 0.0 - 0.046 rot: !!python/tuple - 0.0 - 0.0 - 0.0 - 1.0 visualizer_cfg: prim_path: /Visuals/FrameTransformer markers: frame: func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd visible: true semantic_tags: null copy_from_source: true spawn_path: null mass_props: null deformable_props: null rigid_props: null collision_props: null activate_contact_sensors: false scale: !!python/tuple - 0.1 - 0.1 - 0.1 articulation_props: null fixed_tendons_props: null spatial_tendons_props: null joint_drive_props: null visual_material_path: material visual_material: null usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd variants: null connecting_line: func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder visible: true semantic_tags: null copy_from_source: true spawn_path: null mass_props: null rigid_props: null collision_props: null activate_contact_sensors: false visual_material_path: material visual_material: func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface diffuse_color: !!python/tuple - 1.0 - 1.0 - 0.0 emissive_color: !!python/tuple - 0.0 - 0.0 - 0.0 roughness: 1.0 metallic: 0.0 opacity: 1.0 physics_material_path: material physics_material: null radius: 0.002 height: 1.0 axis: Z recorders: dataset_file_handler_class_type: isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler dataset_export_dir_path: /tmp/isaaclab/logs dataset_filename: dataset_20260403_034228_rank0 dataset_export_mode: _value_: 1 _name_: EXPORT_ALL _sort_order_: 1 export_in_record_pre_reset: true export_in_close: false success_rate: class_type: isaaclab_arena.metrics.success_rate:SuccessRecorder name: success observations: policy: concatenate_terms: true concatenate_dim: -1 enable_corruption: false history_length: null flatten_history_dim: true actions: func: isaaclab.envs.mdp.observations:last_action params: {} modifiers: null noise: null clip: null scale: null history_length: 0 flatten_history_dim: true joint_pos: func: isaaclab.envs.mdp.observations:joint_pos_rel params: {} modifiers: null noise: null clip: null scale: null history_length: 0 flatten_history_dim: true joint_vel: func: isaaclab.envs.mdp.observations:joint_vel_rel params: {} modifiers: null noise: null clip: null scale: null history_length: 0 flatten_history_dim: true eef_pos: func: isaaclab_tasks.manager_based.manipulation.stack.mdp.observations:ee_frame_pos params: {} modifiers: null noise: null clip: null scale: null history_length: 0 flatten_history_dim: true eef_quat: func: isaaclab_tasks.manager_based.manipulation.stack.mdp.observations:ee_frame_quat params: {} modifiers: null noise: null clip: null scale: null history_length: 0 flatten_history_dim: true gripper_pos: func: isaaclab_arena.embodiments.franka.observations:gripper_pos params: {} modifiers: null noise: null clip: null scale: null history_length: 0 flatten_history_dim: true task_obs: concatenate_terms: true concatenate_dim: -1 enable_corruption: false history_length: null flatten_history_dim: true target_object_position: func: isaaclab.envs.mdp.observations:generated_commands params: command_name: object_pose modifiers: null noise: null clip: null scale: null history_length: 0 flatten_history_dim: true object_position: func: isaaclab_arena.tasks.observations.observations:object_position_in_frame params: root_frame_cfg: name: robot joint_names: null joint_ids: !!python/object/apply:builtins.slice - null - null - null fixed_tendon_names: null fixed_tendon_ids: !!python/object/apply:builtins.slice - null - null - null body_names: null body_ids: !!python/object/apply:builtins.slice - null - null - null object_collection_names: null object_collection_ids: !!python/object/apply:builtins.slice - null - null - null preserve_order: false object_cfg: name: dex_cube joint_names: null joint_ids: !!python/object/apply:builtins.slice - null - null - null fixed_tendon_names: null fixed_tendon_ids: !!python/object/apply:builtins.slice - null - null - null body_names: null body_ids: !!python/object/apply:builtins.slice - null - null - null object_collection_names: null object_collection_ids: !!python/object/apply:builtins.slice - null - null - null preserve_order: false modifiers: null noise: null clip: null scale: null history_length: 0 flatten_history_dim: true actions: arm_action: class_type: isaaclab.envs.mdp.actions.joint_actions:JointPositionAction asset_name: robot debug_vis: false clip: null joint_names: - panda_joint.* scale: 0.5 offset: 0.0 preserve_order: false use_default_offset: true gripper_action: class_type: isaaclab.envs.mdp.actions.binary_joint_actions:BinaryJointPositionAction asset_name: robot debug_vis: false clip: null joint_names: - panda_finger.* open_command_expr: panda_finger_.*: 0.04 close_command_expr: panda_finger_.*: 0.0 events: init_franka_arm_pose: func: isaaclab_tasks.manager_based.manipulation.stack.mdp.franka_stack_events:set_default_joint_pose params: default_pose: - 0.0 - -0.785 - -0.1107 - -1.1775 - 0.0 - 0.785 - 0.785 - 0.04 - 0.04 mode: reset interval_range_s: null is_global_time: false min_step_count_between_reset: 0 randomize_franka_joint_state: func: isaaclab_tasks.manager_based.manipulation.stack.mdp.franka_stack_events:randomize_joint_by_gaussian_offset params: mean: 0.0 std: 0.02 asset_cfg: name: robot joint_names: null joint_ids: !!python/object/apply:builtins.slice - null - null - null fixed_tendon_names: null fixed_tendon_ids: !!python/object/apply:builtins.slice - null - null - null body_names: null body_ids: !!python/object/apply:builtins.slice - null - null - null object_collection_names: null object_collection_ids: !!python/object/apply:builtins.slice - null - null - null preserve_order: false mode: reset interval_range_s: null is_global_time: false min_step_count_between_reset: 0 dex_cube: func: isaaclab_arena.terms.events:set_object_pose params: pose: position_xyz: !!python/tuple - 0.5 - 0 - 0.055 rotation_xyzw: !!python/tuple - 0 - 0 - 0 - 1 asset_cfg: name: dex_cube joint_names: null joint_ids: !!python/object/apply:builtins.slice - null - null - null fixed_tendon_names: null fixed_tendon_ids: !!python/object/apply:builtins.slice - null - null - null body_names: null body_ids: !!python/object/apply:builtins.slice - null - null - null object_collection_names: null object_collection_ids: !!python/object/apply:builtins.slice - null - null - null preserve_order: false velocity: null mode: reset interval_range_s: null is_global_time: false min_step_count_between_reset: 0 rerender_on_reset: false num_rerenders_on_reset: 0 wait_for_textures: false xr: null teleop_devices: null isaac_teleop: null export_io_descriptors: false log_dir: /workspaces/isaaclab_arena/logs/rsl_rl/generic_experiment/2026-04-03_03-42-29 is_finite_horizon: false episode_length_s: 5.0 rewards: action_rate: func: isaaclab.envs.mdp.rewards:action_rate_l2 params: {} weight: -0.0001 joint_vel: func: isaaclab.envs.mdp.rewards:joint_vel_l2 params: asset_cfg: name: robot joint_names: null joint_ids: !!python/object/apply:builtins.slice - null - null - null fixed_tendon_names: null fixed_tendon_ids: !!python/object/apply:builtins.slice - null - null - null body_names: null body_ids: !!python/object/apply:builtins.slice - null - null - null object_collection_names: null object_collection_ids: !!python/object/apply:builtins.slice - null - null - null preserve_order: false weight: -0.0001 reaching_object: func: isaaclab_arena.tasks.rewards.rewards:object_ee_distance params: std: 0.1 object_cfg: name: dex_cube joint_names: null joint_ids: !!python/object/apply:builtins.slice - null - null - null fixed_tendon_names: null fixed_tendon_ids: !!python/object/apply:builtins.slice - null - null - null body_names: null body_ids: !!python/object/apply:builtins.slice - null - null - null object_collection_names: null object_collection_ids: !!python/object/apply:builtins.slice - null - null - null preserve_order: false ee_frame_cfg: name: ee_frame joint_names: null joint_ids: !!python/object/apply:builtins.slice - null - null - null fixed_tendon_names: null fixed_tendon_ids: !!python/object/apply:builtins.slice - null - null - null body_names: null body_ids: !!python/object/apply:builtins.slice - null - null - null object_collection_names: null object_collection_ids: !!python/object/apply:builtins.slice - null - null - null preserve_order: false weight: 1.0 lifting_object: func: isaaclab_arena.tasks.rewards.lift_object_rewards:object_is_lifted params: object_cfg: name: dex_cube joint_names: null joint_ids: !!python/object/apply:builtins.slice - null - null - null fixed_tendon_names: null fixed_tendon_ids: !!python/object/apply:builtins.slice - null - null - null body_names: null body_ids: !!python/object/apply:builtins.slice - null - null - null object_collection_names: null object_collection_ids: !!python/object/apply:builtins.slice - null - null - null preserve_order: false minimal_height: 0.04 weight: 15.0 object_goal_tracking: func: isaaclab_arena.tasks.rewards.lift_object_rewards:object_goal_distance params: std: 0.3 minimal_height: 0.04 command_name: object_pose robot_cfg: name: robot joint_names: null joint_ids: !!python/object/apply:builtins.slice - null - null - null fixed_tendon_names: null fixed_tendon_ids: !!python/object/apply:builtins.slice - null - null - null body_names: null body_ids: !!python/object/apply:builtins.slice - null - null - null object_collection_names: null object_collection_ids: !!python/object/apply:builtins.slice - null - null - null preserve_order: false object_cfg: name: dex_cube joint_names: null joint_ids: !!python/object/apply:builtins.slice - null - null - null fixed_tendon_names: null fixed_tendon_ids: !!python/object/apply:builtins.slice - null - null - null body_names: null body_ids: !!python/object/apply:builtins.slice - null - null - null object_collection_names: null object_collection_ids: !!python/object/apply:builtins.slice - null - null - null preserve_order: false weight: 16.0 object_goal_tracking_fine_grained: func: isaaclab_arena.tasks.rewards.lift_object_rewards:object_goal_distance params: std: 0.05 minimal_height: 0.04 command_name: object_pose robot_cfg: name: robot joint_names: null joint_ids: !!python/object/apply:builtins.slice - null - null - null fixed_tendon_names: null fixed_tendon_ids: !!python/object/apply:builtins.slice - null - null - null body_names: null body_ids: !!python/object/apply:builtins.slice - null - null - null object_collection_names: null object_collection_ids: !!python/object/apply:builtins.slice - null - null - null preserve_order: false object_cfg: name: dex_cube joint_names: null joint_ids: !!python/object/apply:builtins.slice - null - null - null fixed_tendon_names: null fixed_tendon_ids: !!python/object/apply:builtins.slice - null - null - null body_names: null body_ids: !!python/object/apply:builtins.slice - null - null - null object_collection_names: null object_collection_ids: !!python/object/apply:builtins.slice - null - null - null preserve_order: false weight: 5.0 terminations: time_out: func: isaaclab.envs.mdp.terminations:time_out params: {} time_out: false object_dropped: func: isaaclab.envs.mdp.terminations:root_height_below_minimum params: minimum_height: -0.05 asset_cfg: name: dex_cube joint_names: null joint_ids: !!python/object/apply:builtins.slice - null - null - null fixed_tendon_names: null fixed_tendon_ids: !!python/object/apply:builtins.slice - null - null - null body_names: null body_ids: !!python/object/apply:builtins.slice - null - null - null object_collection_names: null object_collection_ids: !!python/object/apply:builtins.slice - null - null - null preserve_order: false time_out: false success: func: isaaclab_arena.tasks.terminations:lift_object_rl_success params: object_cfg: name: dex_cube joint_names: null joint_ids: !!python/object/apply:builtins.slice - null - null - null fixed_tendon_names: null fixed_tendon_ids: !!python/object/apply:builtins.slice - null - null - null body_names: null body_ids: !!python/object/apply:builtins.slice - null - null - null object_collection_names: null object_collection_ids: !!python/object/apply:builtins.slice - null - null - null preserve_order: false robot_cfg: name: robot joint_names: null joint_ids: !!python/object/apply:builtins.slice - null - null - null fixed_tendon_names: null fixed_tendon_ids: !!python/object/apply:builtins.slice - null - null - null body_names: null body_ids: !!python/object/apply:builtins.slice - null - null - null object_collection_names: null object_collection_ids: !!python/object/apply:builtins.slice - null - null - null preserve_order: false rl_training: true command_name: object_pose position_tolerance: 0.05 time_out: false curriculum: {} commands: object_pose: class_type: isaaclab.envs.mdp.commands.pose_command:UniformPoseCommand resampling_time_range: !!python/tuple - 5.0 - 5.0 debug_vis: true asset_name: robot body_name: panda_hand make_quat_unique: false ranges: pos_x: !!python/tuple - 0.4 - 0.6 pos_y: !!python/tuple - -0.25 - 0.25 pos_z: !!python/tuple - 0.255 - 0.455 roll: !!python/tuple - 0.0 - 0.0 pitch: !!python/tuple - 0.0 - 0.0 yaw: !!python/tuple - 0.0 - 0.0 goal_pose_visualizer_cfg: prim_path: /Visuals/Command/goal_pose markers: frame: func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd visible: true semantic_tags: null copy_from_source: true spawn_path: null mass_props: null deformable_props: null rigid_props: null collision_props: null activate_contact_sensors: false scale: !!python/tuple - 0.1 - 0.1 - 0.1 articulation_props: null fixed_tendons_props: null spatial_tendons_props: null joint_drive_props: null visual_material_path: material visual_material: null usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd variants: null connecting_line: func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder visible: true semantic_tags: null copy_from_source: true spawn_path: null mass_props: null rigid_props: null collision_props: null activate_contact_sensors: false visual_material_path: material visual_material: func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface diffuse_color: !!python/tuple - 1.0 - 1.0 - 0.0 emissive_color: !!python/tuple - 0.0 - 0.0 - 0.0 roughness: 1.0 metallic: 0.0 opacity: 1.0 physics_material_path: material physics_material: null radius: 0.002 height: 1.0 axis: Z current_pose_visualizer_cfg: prim_path: /Visuals/Command/body_pose markers: frame: func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd visible: true semantic_tags: null copy_from_source: true spawn_path: null mass_props: null deformable_props: null rigid_props: null collision_props: null activate_contact_sensors: false scale: !!python/tuple - 0.1 - 0.1 - 0.1 articulation_props: null fixed_tendons_props: null spatial_tendons_props: null joint_drive_props: null visual_material_path: material visual_material: null usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd variants: null connecting_line: func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder visible: true semantic_tags: null copy_from_source: true spawn_path: null mass_props: null rigid_props: null collision_props: null activate_contact_sensors: false visual_material_path: material visual_material: func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface diffuse_color: !!python/tuple - 1.0 - 1.0 - 0.0 emissive_color: !!python/tuple - 0.0 - 0.0 - 0.0 roughness: 1.0 metallic: 0.0 opacity: 1.0 physics_material_path: material physics_material: null radius: 0.002 height: 1.0 axis: Z metrics: - {} isaaclab_arena_env: name: lift_object scene: assets: table: name: table tags: - background prim_path: '{ENV_REGEX_NS}/table' object_type: _value_: base _name_: BASE _sort_order_: 0 initial_pose: position_xyz: !!python/tuple - 0.5 - 0 - 0 rotation_xyzw: !!python/tuple - 0 - 0 - 0.707 - 0.707 initial_velocity: null object_cfg: class_type: null prim_path: '{ENV_REGEX_NS}/table' spawn: func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd visible: true semantic_tags: null copy_from_source: true spawn_path: null mass_props: null deformable_props: null rigid_props: null collision_props: null activate_contact_sensors: false scale: !!python/tuple - 1.0 - 1.0 - 1.0 articulation_props: null fixed_tendons_props: null spatial_tendons_props: null joint_drive_props: null visual_material_path: material visual_material: null usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/Mounts/SeattleLabTable/table_instanceable.usd variants: null init_state: pos: !!python/tuple - 0.5 - 0 - 0 rot: !!python/tuple - 0 - 0 - 0.707 - 0.707 collision_group: 0 debug_vis: false event_cfg: null relations: [] usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/Mounts/SeattleLabTable/table_instanceable.usd scale: !!python/tuple - 1.0 - 1.0 - 1.0 reset_pose: true spawn_cfg_addon: {} asset_cfg_addon: {} bounding_box: null object_min_z: -0.05 dex_cube: name: dex_cube tags: - object prim_path: '{ENV_REGEX_NS}/dex_cube' object_type: _value_: rigid _name_: RIGID _sort_order_: 1 initial_pose: position_xyz: !!python/tuple - 0.5 - 0 - 0.055 rotation_xyzw: !!python/tuple - 0 - 0 - 0 - 1 initial_velocity: null object_cfg: class_type: isaaclab.assets.rigid_object.rigid_object:RigidObject prim_path: '{ENV_REGEX_NS}/dex_cube' spawn: func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd visible: true semantic_tags: null copy_from_source: true spawn_path: null mass_props: null deformable_props: null rigid_props: null collision_props: null activate_contact_sensors: true scale: !!python/tuple - 0.8 - 0.8 - 0.8 articulation_props: null fixed_tendons_props: null spatial_tendons_props: null joint_drive_props: null visual_material_path: material visual_material: null usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/Blocks/DexCube/dex_cube_instanceable.usd variants: null init_state: pos: !!python/tuple - 0.5 - 0 - 0.055 rot: !!python/tuple - 0 - 0 - 0 - 1 lin_vel: !!python/tuple - 0.0 - 0.0 - 0.0 ang_vel: !!python/tuple - 0.0 - 0.0 - 0.0 collision_group: 0 debug_vis: false event_cfg: func: isaaclab_arena.terms.events:set_object_pose params: pose: position_xyz: !!python/tuple - 0.5 - 0 - 0.055 rotation_xyzw: !!python/tuple - 0 - 0 - 0 - 1 asset_cfg: name: dex_cube joint_names: null joint_ids: &id001 !!python/object/apply:builtins.slice - null - null - null fixed_tendon_names: null fixed_tendon_ids: &id002 !!python/object/apply:builtins.slice - null - null - null body_names: null body_ids: &id003 !!python/object/apply:builtins.slice - null - null - null object_collection_names: null object_collection_ids: &id004 !!python/object/apply:builtins.slice - null - null - null preserve_order: false velocity: null mode: reset interval_range_s: null is_global_time: false min_step_count_between_reset: 0 relations: [] usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/Blocks/DexCube/dex_cube_instanceable.usd scale: !!python/tuple - 0.8 - 0.8 - 0.8 reset_pose: true spawn_cfg_addon: {} asset_cfg_addon: {} bounding_box: null ground_plane: spawner_cfg: func: isaaclab.sim.spawners.from_files.from_files:spawn_ground_plane visible: true semantic_tags: null copy_from_source: true spawn_path: null usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Environments/Grid/default_environment.usd color: !!python/tuple - 0.0 - 0.0 - 0.0 size: !!python/tuple - 100.0 - 100.0 physics_material: func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material static_friction: 0.5 dynamic_friction: 0.5 restitution: 0.0 friction_combine_mode: average restitution_combine_mode: average compliant_contact_stiffness: 0.0 compliant_contact_damping: 0.0 name: ground_plane tags: - ground_plane prim_path: /World/GroundPlane object_type: _value_: spawner _name_: SPAWNER _sort_order_: 3 initial_pose: position_xyz: !!python/tuple - 0.0 - 0.0 - -1.05 rotation_xyzw: !!python/tuple - 0.0 - 0.0 - 0.0 - 1.0 initial_velocity: null object_cfg: class_type: null prim_path: /World/GroundPlane spawn: func: isaaclab.sim.spawners.from_files.from_files:spawn_ground_plane visible: true semantic_tags: null copy_from_source: true spawn_path: null usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Environments/Grid/default_environment.usd color: !!python/tuple - 0.0 - 0.0 - 0.0 size: !!python/tuple - 100.0 - 100.0 physics_material: func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material static_friction: 0.5 dynamic_friction: 0.5 restitution: 0.0 friction_combine_mode: average restitution_combine_mode: average compliant_contact_stiffness: 0.0 compliant_contact_damping: 0.0 init_state: pos: !!python/tuple - 0.0 - 0.0 - -1.05 rot: !!python/tuple - 0.0 - 0.0 - 0.0 - 1.0 collision_group: 0 debug_vis: false event_cfg: null relations: [] usd_path: null scale: !!python/tuple - 1.0 - 1.0 - 1.0 reset_pose: true spawn_cfg_addon: {} asset_cfg_addon: {} bounding_box: null light: spawner_cfg: func: isaaclab.sim.spawners.lights.lights:spawn_light visible: true semantic_tags: null copy_from_source: true spawn_path: null prim_type: DomeLight color: !!python/tuple - 0.75 - 0.75 - 0.75 enable_color_temperature: false color_temperature: 6500.0 normalize: false exposure: 0.0 intensity: 3000.0 texture_file: null texture_format: automatic visible_in_primary_ray: true name: light tags: - light prim_path: /World/Light object_type: _value_: spawner _name_: SPAWNER _sort_order_: 3 initial_pose: null initial_velocity: null object_cfg: class_type: null prim_path: /World/Light spawn: func: isaaclab.sim.spawners.lights.lights:spawn_light visible: true semantic_tags: null copy_from_source: true spawn_path: null prim_type: DomeLight color: !!python/tuple - 0.75 - 0.75 - 0.75 enable_color_temperature: false color_temperature: 6500.0 normalize: false exposure: 0.0 intensity: 3000.0 texture_file: null texture_format: automatic visible_in_primary_ray: true init_state: pos: !!python/tuple - 0.0 - 0.0 - 0.0 rot: !!python/tuple - 0.0 - 0.0 - 0.0 - 1.0 collision_group: 0 debug_vis: false event_cfg: null relations: [] usd_path: null scale: !!python/tuple - 1.0 - 1.0 - 1.0 reset_pose: true spawn_cfg_addon: {} asset_cfg_addon: {} bounding_box: null observation_cfg: null events_cfg: null termination_cfg: null rewards_cfg: null curriculum_cfg: null commands_cfg: null embodiment: enable_cameras: false initial_pose: null concatenate_observation_terms: true arm_mode: _value_: single_arm _name_: SINGLE_ARM _sort_order_: 0 scene_config: robot: class_type: isaaclab.assets.articulation.articulation:Articulation prim_path: '{ENV_REGEX_NS}/Robot' spawn: func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd visible: true semantic_tags: null copy_from_source: true spawn_path: null mass_props: null deformable_props: null rigid_props: rigid_body_enabled: null kinematic_enabled: null disable_gravity: false linear_damping: null angular_damping: null max_linear_velocity: null max_angular_velocity: null max_depenetration_velocity: 5.0 max_contact_impulse: null enable_gyroscopic_forces: null retain_accelerations: null solver_position_iteration_count: null solver_velocity_iteration_count: null sleep_threshold: null stabilization_threshold: null collision_props: null activate_contact_sensors: false scale: null articulation_props: articulation_enabled: null enabled_self_collisions: true solver_position_iteration_count: 8 solver_velocity_iteration_count: 0 sleep_threshold: null stabilization_threshold: null fix_root_link: null fixed_tendons_props: null spatial_tendons_props: null joint_drive_props: null visual_material_path: material visual_material: null usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/IsaacLab/Arena/assets/robot_library/franka_panda_hand_on_stand.usd variants: null init_state: pos: !!python/tuple - 0.0 - 0.0 - 0.0 rot: !!python/tuple - 0.0 - 0.0 - 0.0 - 1.0 lin_vel: !!python/tuple - 0.0 - 0.0 - 0.0 ang_vel: !!python/tuple - 0.0 - 0.0 - 0.0 joint_pos: panda_joint1: 0.0 panda_joint2: -0.569 panda_joint3: 0.0 panda_joint4: -2.81 panda_joint5: 0.0 panda_joint6: 3.037 panda_joint7: 0.741 panda_finger_joint.*: 0.04 joint_vel: .*: 0.0 collision_group: 0 debug_vis: false articulation_root_prim_path: null soft_joint_pos_limit_factor: 1.0 actuators: panda_shoulder: class_type: isaaclab.actuators.actuator_pd:ImplicitActuator joint_names_expr: - panda_joint[1-4] effort_limit: null velocity_limit: null effort_limit_sim: 87.0 velocity_limit_sim: null stiffness: 80.0 damping: 4.0 armature: 0.001 friction: null dynamic_friction: null viscous_friction: null panda_forearm: class_type: isaaclab.actuators.actuator_pd:ImplicitActuator joint_names_expr: - panda_joint[5-7] effort_limit: null velocity_limit: null effort_limit_sim: 12.0 velocity_limit_sim: null stiffness: 80.0 damping: 4.0 armature: 0.001 friction: null dynamic_friction: null viscous_friction: null panda_hand: class_type: isaaclab.actuators.actuator_pd:ImplicitActuator joint_names_expr: - panda_finger_joint.* effort_limit: null velocity_limit: null effort_limit_sim: 200.0 velocity_limit_sim: null stiffness: 2000.0 damping: 100.0 armature: null friction: null dynamic_friction: null viscous_friction: null actuator_value_resolution_debug_print: false ee_frame: class_type: isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer prim_path: '{ENV_REGEX_NS}/Robot/panda_link0' update_period: 0.0 debug_vis: false source_frame_offset: pos: !!python/tuple - 0.0 - 0.0 - 0.0 rot: !!python/tuple - 0.0 - 0.0 - 0.0 - 1.0 target_frames: - prim_path: '{ENV_REGEX_NS}/Robot/panda_hand' name: end_effector offset: pos: - 0.0 - 0.0 - 0.1034 rot: !!python/tuple - 0.0 - 0.0 - 0.0 - 1.0 - prim_path: '{ENV_REGEX_NS}/Robot/panda_rightfinger' name: tool_rightfinger offset: pos: !!python/tuple - 0.0 - 0.0 - 0.046 rot: !!python/tuple - 0.0 - 0.0 - 0.0 - 1.0 - prim_path: '{ENV_REGEX_NS}/Robot/panda_leftfinger' name: tool_leftfinger offset: pos: !!python/tuple - 0.0 - 0.0 - 0.046 rot: !!python/tuple - 0.0 - 0.0 - 0.0 - 1.0 visualizer_cfg: prim_path: /Visuals/FrameTransformer markers: frame: func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd visible: true semantic_tags: null copy_from_source: true spawn_path: null mass_props: null deformable_props: null rigid_props: null collision_props: null activate_contact_sensors: false scale: !!python/tuple - 0.1 - 0.1 - 0.1 articulation_props: null fixed_tendons_props: null spatial_tendons_props: null joint_drive_props: null visual_material_path: material visual_material: null usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd variants: null connecting_line: func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder visible: true semantic_tags: null copy_from_source: true spawn_path: null mass_props: null rigid_props: null collision_props: null activate_contact_sensors: false visual_material_path: material visual_material: func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface diffuse_color: !!python/tuple - 1.0 - 1.0 - 0.0 emissive_color: !!python/tuple - 0.0 - 0.0 - 0.0 roughness: 1.0 metallic: 0.0 opacity: 1.0 physics_material_path: material physics_material: null radius: 0.002 height: 1.0 axis: Z camera_config: wrist_cam: class_type: isaaclab.sensors.camera.camera:Camera prim_path: '{ENV_REGEX_NS}/Robot/panda_hand/wrist_cam' update_period: 0.0 debug_vis: false offset: pos: !!python/tuple - 0.11 - -0.031 - -0.074 rot: !!python/tuple - 0.0 - 0.0 - -0.66262 - -0.74896 convention: ros spawn: func: isaaclab.sim.spawners.sensors.sensors:spawn_camera visible: true semantic_tags: null copy_from_source: true spawn_path: null projection_type: pinhole clipping_range: !!python/tuple - 0.01 - 1000000.0 focal_length: 2.8 focus_distance: 28 f_stop: 0.0 horizontal_aperture: 5.376 vertical_aperture: 3.024 horizontal_aperture_offset: 0.0 vertical_aperture_offset: 0.0 lock_camera: true depth_clipping_behavior: none data_types: - rgb width: 84 height: 84 update_latest_camera_pose: false semantic_filter: '*:*' colorize_semantic_segmentation: true colorize_instance_id_segmentation: true colorize_instance_segmentation: true semantic_segmentation_mapping: {} renderer_cfg: renderer_type: isaac_rtx _is_tiled_camera: false _camera_offset: position_xyz: !!python/tuple - 0.11 - -0.031 - -0.074 rotation_xyzw: !!python/tuple - 0.0 - 0.0 - -0.66262 - -0.74896 action_config: arm_action: class_type: isaaclab.envs.mdp.actions.joint_actions:JointPositionAction asset_name: robot debug_vis: false clip: null joint_names: - panda_joint.* scale: 0.5 offset: 0.0 preserve_order: false use_default_offset: true gripper_action: class_type: isaaclab.envs.mdp.actions.binary_joint_actions:BinaryJointPositionAction asset_name: robot debug_vis: false clip: null joint_names: - panda_finger.* open_command_expr: panda_finger_.*: 0.04 close_command_expr: panda_finger_.*: 0.0 observation_config: policy: concatenate_terms: true concatenate_dim: -1 enable_corruption: false history_length: null flatten_history_dim: true actions: func: isaaclab.envs.mdp.observations:last_action params: {} modifiers: null noise: null clip: null scale: null history_length: 0 flatten_history_dim: true joint_pos: func: isaaclab.envs.mdp.observations:joint_pos_rel params: {} modifiers: null noise: null clip: null scale: null history_length: 0 flatten_history_dim: true joint_vel: func: isaaclab.envs.mdp.observations:joint_vel_rel params: {} modifiers: null noise: null clip: null scale: null history_length: 0 flatten_history_dim: true eef_pos: func: isaaclab_tasks.manager_based.manipulation.stack.mdp.observations:ee_frame_pos params: {} modifiers: null noise: null clip: null scale: null history_length: 0 flatten_history_dim: true eef_quat: func: isaaclab_tasks.manager_based.manipulation.stack.mdp.observations:ee_frame_quat params: {} modifiers: null noise: null clip: null scale: null history_length: 0 flatten_history_dim: true gripper_pos: func: isaaclab_arena.embodiments.franka.observations:gripper_pos params: {} modifiers: null noise: null clip: null scale: null history_length: 0 flatten_history_dim: true event_config: init_franka_arm_pose: func: isaaclab_tasks.manager_based.manipulation.stack.mdp.franka_stack_events:set_default_joint_pose params: default_pose: - 0.0 - -0.785 - -0.1107 - -1.1775 - 0.0 - 0.785 - 0.785 - 0.04 - 0.04 mode: reset interval_range_s: null is_global_time: false min_step_count_between_reset: 0 randomize_franka_joint_state: func: isaaclab_tasks.manager_based.manipulation.stack.mdp.franka_stack_events:randomize_joint_by_gaussian_offset params: mean: 0.0 std: 0.02 asset_cfg: name: robot joint_names: null joint_ids: &id005 !!python/object/apply:builtins.slice - null - null - null fixed_tendon_names: null fixed_tendon_ids: &id006 !!python/object/apply:builtins.slice - null - null - null body_names: null body_ids: &id007 !!python/object/apply:builtins.slice - null - null - null object_collection_names: null object_collection_ids: &id008 !!python/object/apply:builtins.slice - null - null - null preserve_order: false mode: reset interval_range_s: null is_global_time: false min_step_count_between_reset: 0 reward_config: action_rate: func: isaaclab.envs.mdp.rewards:action_rate_l2 params: {} weight: -0.0001 joint_vel: func: isaaclab.envs.mdp.rewards:joint_vel_l2 params: asset_cfg: name: robot joint_names: null joint_ids: &id009 !!python/object/apply:builtins.slice - null - null - null fixed_tendon_names: null fixed_tendon_ids: &id010 !!python/object/apply:builtins.slice - null - null - null body_names: null body_ids: &id011 !!python/object/apply:builtins.slice - null - null - null object_collection_names: null object_collection_ids: &id012 !!python/object/apply:builtins.slice - null - null - null preserve_order: false weight: -0.0001 curriculum_config: null command_config: null mimic_env: isaaclab_arena.embodiments.franka.franka:FrankaMimicEnv xr: null termination_cfg: null task: rl_training_mode: true minimum_height_to_lift: 0.04 target_x_range: !!python/tuple - 0.4 - 0.6 target_y_range: !!python/tuple - -0.25 - 0.25 target_z_range: !!python/tuple - 0.255 - 0.455 episode_length_s: 5.0 task_description: null lift_object: name: dex_cube tags: - object prim_path: '{ENV_REGEX_NS}/dex_cube' object_type: _value_: rigid _name_: RIGID _sort_order_: 1 initial_pose: position_xyz: !!python/tuple - 0.5 - 0 - 0.055 rotation_xyzw: !!python/tuple - 0 - 0 - 0 - 1 initial_velocity: null object_cfg: class_type: isaaclab.assets.rigid_object.rigid_object:RigidObject prim_path: '{ENV_REGEX_NS}/dex_cube' spawn: func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd visible: true semantic_tags: null copy_from_source: true spawn_path: null mass_props: null deformable_props: null rigid_props: null collision_props: null activate_contact_sensors: true scale: !!python/tuple - 0.8 - 0.8 - 0.8 articulation_props: null fixed_tendons_props: null spatial_tendons_props: null joint_drive_props: null visual_material_path: material visual_material: null usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/Blocks/DexCube/dex_cube_instanceable.usd variants: null init_state: pos: !!python/tuple - 0.5 - 0 - 0.055 rot: !!python/tuple - 0 - 0 - 0 - 1 lin_vel: !!python/tuple - 0.0 - 0.0 - 0.0 ang_vel: !!python/tuple - 0.0 - 0.0 - 0.0 collision_group: 0 debug_vis: false event_cfg: func: isaaclab_arena.terms.events:set_object_pose params: pose: position_xyz: !!python/tuple - 0.5 - 0 - 0.055 rotation_xyzw: !!python/tuple - 0 - 0 - 0 - 1 asset_cfg: name: dex_cube joint_names: null joint_ids: *id001 fixed_tendon_names: null fixed_tendon_ids: *id002 body_names: null body_ids: *id003 object_collection_names: null object_collection_ids: *id004 preserve_order: false velocity: null mode: reset interval_range_s: null is_global_time: false min_step_count_between_reset: 0 relations: [] usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/Blocks/DexCube/dex_cube_instanceable.usd scale: !!python/tuple - 0.8 - 0.8 - 0.8 reset_pose: true spawn_cfg_addon: {} asset_cfg_addon: {} bounding_box: null background_scene: name: table tags: - background prim_path: '{ENV_REGEX_NS}/table' object_type: _value_: base _name_: BASE _sort_order_: 0 initial_pose: position_xyz: !!python/tuple - 0.5 - 0 - 0 rotation_xyzw: !!python/tuple - 0 - 0 - 0.707 - 0.707 initial_velocity: null object_cfg: class_type: null prim_path: '{ENV_REGEX_NS}/table' spawn: func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd visible: true semantic_tags: null copy_from_source: true spawn_path: null mass_props: null deformable_props: null rigid_props: null collision_props: null activate_contact_sensors: false scale: !!python/tuple - 1.0 - 1.0 - 1.0 articulation_props: null fixed_tendons_props: null spatial_tendons_props: null joint_drive_props: null visual_material_path: material visual_material: null usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/Mounts/SeattleLabTable/table_instanceable.usd variants: null init_state: pos: !!python/tuple - 0.5 - 0 - 0 rot: !!python/tuple - 0 - 0 - 0.707 - 0.707 collision_group: 0 debug_vis: false event_cfg: null relations: [] usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/Mounts/SeattleLabTable/table_instanceable.usd scale: !!python/tuple - 1.0 - 1.0 - 1.0 reset_pose: true spawn_cfg_addon: {} asset_cfg_addon: {} bounding_box: null object_min_z: -0.05 goal_position_xyz: !!python/tuple - 0.5 - 0 - 0.055 goal_position_tolerance: 0.05 scene_config: null events_cfg: null termination_cfg: time_out: func: isaaclab.envs.mdp.terminations:time_out params: {} time_out: false object_dropped: func: isaaclab.envs.mdp.terminations:root_height_below_minimum params: minimum_height: -0.05 asset_cfg: name: dex_cube joint_names: null joint_ids: !!python/object/apply:builtins.slice - null - null - null fixed_tendon_names: null fixed_tendon_ids: !!python/object/apply:builtins.slice - null - null - null body_names: null body_ids: !!python/object/apply:builtins.slice - null - null - null object_collection_names: null object_collection_ids: !!python/object/apply:builtins.slice - null - null - null preserve_order: false time_out: false success: func: isaaclab_arena.tasks.terminations:lift_object_rl_success params: object_cfg: name: dex_cube joint_names: null joint_ids: !!python/object/apply:builtins.slice - null - null - null fixed_tendon_names: null fixed_tendon_ids: !!python/object/apply:builtins.slice - null - null - null body_names: null body_ids: !!python/object/apply:builtins.slice - null - null - null object_collection_names: null object_collection_ids: !!python/object/apply:builtins.slice - null - null - null preserve_order: false robot_cfg: name: robot joint_names: null joint_ids: !!python/object/apply:builtins.slice - null - null - null fixed_tendon_names: null fixed_tendon_ids: !!python/object/apply:builtins.slice - null - null - null body_names: null body_ids: !!python/object/apply:builtins.slice - null - null - null object_collection_names: null object_collection_ids: !!python/object/apply:builtins.slice - null - null - null preserve_order: false rl_training: true command_name: object_pose position_tolerance: 0.05 time_out: false embodiment: enable_cameras: false initial_pose: null concatenate_observation_terms: true arm_mode: _value_: single_arm _name_: SINGLE_ARM _sort_order_: 0 scene_config: robot: class_type: isaaclab.assets.articulation.articulation:Articulation prim_path: '{ENV_REGEX_NS}/Robot' spawn: func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd visible: true semantic_tags: null copy_from_source: true spawn_path: null mass_props: null deformable_props: null rigid_props: rigid_body_enabled: null kinematic_enabled: null disable_gravity: false linear_damping: null angular_damping: null max_linear_velocity: null max_angular_velocity: null max_depenetration_velocity: 5.0 max_contact_impulse: null enable_gyroscopic_forces: null retain_accelerations: null solver_position_iteration_count: null solver_velocity_iteration_count: null sleep_threshold: null stabilization_threshold: null collision_props: null activate_contact_sensors: false scale: null articulation_props: articulation_enabled: null enabled_self_collisions: true solver_position_iteration_count: 8 solver_velocity_iteration_count: 0 sleep_threshold: null stabilization_threshold: null fix_root_link: null fixed_tendons_props: null spatial_tendons_props: null joint_drive_props: null visual_material_path: material visual_material: null usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/IsaacLab/Arena/assets/robot_library/franka_panda_hand_on_stand.usd variants: null init_state: pos: !!python/tuple - 0.0 - 0.0 - 0.0 rot: !!python/tuple - 0.0 - 0.0 - 0.0 - 1.0 lin_vel: !!python/tuple - 0.0 - 0.0 - 0.0 ang_vel: !!python/tuple - 0.0 - 0.0 - 0.0 joint_pos: panda_joint1: 0.0 panda_joint2: -0.569 panda_joint3: 0.0 panda_joint4: -2.81 panda_joint5: 0.0 panda_joint6: 3.037 panda_joint7: 0.741 panda_finger_joint.*: 0.04 joint_vel: .*: 0.0 collision_group: 0 debug_vis: false articulation_root_prim_path: null soft_joint_pos_limit_factor: 1.0 actuators: panda_shoulder: class_type: isaaclab.actuators.actuator_pd:ImplicitActuator joint_names_expr: - panda_joint[1-4] effort_limit: null velocity_limit: null effort_limit_sim: 87.0 velocity_limit_sim: null stiffness: 80.0 damping: 4.0 armature: 0.001 friction: null dynamic_friction: null viscous_friction: null panda_forearm: class_type: isaaclab.actuators.actuator_pd:ImplicitActuator joint_names_expr: - panda_joint[5-7] effort_limit: null velocity_limit: null effort_limit_sim: 12.0 velocity_limit_sim: null stiffness: 80.0 damping: 4.0 armature: 0.001 friction: null dynamic_friction: null viscous_friction: null panda_hand: class_type: isaaclab.actuators.actuator_pd:ImplicitActuator joint_names_expr: - panda_finger_joint.* effort_limit: null velocity_limit: null effort_limit_sim: 200.0 velocity_limit_sim: null stiffness: 2000.0 damping: 100.0 armature: null friction: null dynamic_friction: null viscous_friction: null actuator_value_resolution_debug_print: false ee_frame: class_type: isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer prim_path: '{ENV_REGEX_NS}/Robot/panda_link0' update_period: 0.0 debug_vis: false source_frame_offset: pos: !!python/tuple - 0.0 - 0.0 - 0.0 rot: !!python/tuple - 0.0 - 0.0 - 0.0 - 1.0 target_frames: - prim_path: '{ENV_REGEX_NS}/Robot/panda_hand' name: end_effector offset: pos: - 0.0 - 0.0 - 0.1034 rot: !!python/tuple - 0.0 - 0.0 - 0.0 - 1.0 - prim_path: '{ENV_REGEX_NS}/Robot/panda_rightfinger' name: tool_rightfinger offset: pos: !!python/tuple - 0.0 - 0.0 - 0.046 rot: !!python/tuple - 0.0 - 0.0 - 0.0 - 1.0 - prim_path: '{ENV_REGEX_NS}/Robot/panda_leftfinger' name: tool_leftfinger offset: pos: !!python/tuple - 0.0 - 0.0 - 0.046 rot: !!python/tuple - 0.0 - 0.0 - 0.0 - 1.0 visualizer_cfg: prim_path: /Visuals/FrameTransformer markers: frame: func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd visible: true semantic_tags: null copy_from_source: true spawn_path: null mass_props: null deformable_props: null rigid_props: null collision_props: null activate_contact_sensors: false scale: !!python/tuple - 0.1 - 0.1 - 0.1 articulation_props: null fixed_tendons_props: null spatial_tendons_props: null joint_drive_props: null visual_material_path: material visual_material: null usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd variants: null connecting_line: func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder visible: true semantic_tags: null copy_from_source: true spawn_path: null mass_props: null rigid_props: null collision_props: null activate_contact_sensors: false visual_material_path: material visual_material: func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface diffuse_color: !!python/tuple - 1.0 - 1.0 - 0.0 emissive_color: !!python/tuple - 0.0 - 0.0 - 0.0 roughness: 1.0 metallic: 0.0 opacity: 1.0 physics_material_path: material physics_material: null radius: 0.002 height: 1.0 axis: Z camera_config: wrist_cam: class_type: isaaclab.sensors.camera.camera:Camera prim_path: '{ENV_REGEX_NS}/Robot/panda_hand/wrist_cam' update_period: 0.0 debug_vis: false offset: pos: !!python/tuple - 0.11 - -0.031 - -0.074 rot: !!python/tuple - 0.0 - 0.0 - -0.66262 - -0.74896 convention: ros spawn: func: isaaclab.sim.spawners.sensors.sensors:spawn_camera visible: true semantic_tags: null copy_from_source: true spawn_path: null projection_type: pinhole clipping_range: !!python/tuple - 0.01 - 1000000.0 focal_length: 2.8 focus_distance: 28 f_stop: 0.0 horizontal_aperture: 5.376 vertical_aperture: 3.024 horizontal_aperture_offset: 0.0 vertical_aperture_offset: 0.0 lock_camera: true depth_clipping_behavior: none data_types: - rgb width: 84 height: 84 update_latest_camera_pose: false semantic_filter: '*:*' colorize_semantic_segmentation: true colorize_instance_id_segmentation: true colorize_instance_segmentation: true semantic_segmentation_mapping: {} renderer_cfg: renderer_type: isaac_rtx _is_tiled_camera: false _camera_offset: position_xyz: !!python/tuple - 0.11 - -0.031 - -0.074 rotation_xyzw: !!python/tuple - 0.0 - 0.0 - -0.66262 - -0.74896 action_config: arm_action: class_type: isaaclab.envs.mdp.actions.joint_actions:JointPositionAction asset_name: robot debug_vis: false clip: null joint_names: - panda_joint.* scale: 0.5 offset: 0.0 preserve_order: false use_default_offset: true gripper_action: class_type: isaaclab.envs.mdp.actions.binary_joint_actions:BinaryJointPositionAction asset_name: robot debug_vis: false clip: null joint_names: - panda_finger.* open_command_expr: panda_finger_.*: 0.04 close_command_expr: panda_finger_.*: 0.0 observation_config: policy: concatenate_terms: true concatenate_dim: -1 enable_corruption: false history_length: null flatten_history_dim: true actions: func: isaaclab.envs.mdp.observations:last_action params: {} modifiers: null noise: null clip: null scale: null history_length: 0 flatten_history_dim: true joint_pos: func: isaaclab.envs.mdp.observations:joint_pos_rel params: {} modifiers: null noise: null clip: null scale: null history_length: 0 flatten_history_dim: true joint_vel: func: isaaclab.envs.mdp.observations:joint_vel_rel params: {} modifiers: null noise: null clip: null scale: null history_length: 0 flatten_history_dim: true eef_pos: func: isaaclab_tasks.manager_based.manipulation.stack.mdp.observations:ee_frame_pos params: {} modifiers: null noise: null clip: null scale: null history_length: 0 flatten_history_dim: true eef_quat: func: isaaclab_tasks.manager_based.manipulation.stack.mdp.observations:ee_frame_quat params: {} modifiers: null noise: null clip: null scale: null history_length: 0 flatten_history_dim: true gripper_pos: func: isaaclab_arena.embodiments.franka.observations:gripper_pos params: {} modifiers: null noise: null clip: null scale: null history_length: 0 flatten_history_dim: true event_config: init_franka_arm_pose: func: isaaclab_tasks.manager_based.manipulation.stack.mdp.franka_stack_events:set_default_joint_pose params: default_pose: - 0.0 - -0.785 - -0.1107 - -1.1775 - 0.0 - 0.785 - 0.785 - 0.04 - 0.04 mode: reset interval_range_s: null is_global_time: false min_step_count_between_reset: 0 randomize_franka_joint_state: func: isaaclab_tasks.manager_based.manipulation.stack.mdp.franka_stack_events:randomize_joint_by_gaussian_offset params: mean: 0.0 std: 0.02 asset_cfg: name: robot joint_names: null joint_ids: *id005 fixed_tendon_names: null fixed_tendon_ids: *id006 body_names: null body_ids: *id007 object_collection_names: null object_collection_ids: *id008 preserve_order: false mode: reset interval_range_s: null is_global_time: false min_step_count_between_reset: 0 reward_config: action_rate: func: isaaclab.envs.mdp.rewards:action_rate_l2 params: {} weight: -0.0001 joint_vel: func: isaaclab.envs.mdp.rewards:joint_vel_l2 params: asset_cfg: name: robot joint_names: null joint_ids: *id009 fixed_tendon_names: null fixed_tendon_ids: *id010 body_names: null body_ids: *id011 object_collection_names: null object_collection_ids: *id012 preserve_order: false weight: -0.0001 curriculum_config: null command_config: null mimic_env: isaaclab_arena.embodiments.franka.franka:FrankaMimicEnv xr: null termination_cfg: null observation_cfg: task_obs: concatenate_terms: true concatenate_dim: -1 enable_corruption: false history_length: null flatten_history_dim: true target_object_position: func: isaaclab.envs.mdp.observations:generated_commands params: command_name: object_pose modifiers: null noise: null clip: null scale: null history_length: 0 flatten_history_dim: true object_position: func: isaaclab_arena.tasks.observations.observations:object_position_in_frame params: root_frame_cfg: name: robot joint_names: null joint_ids: !!python/object/apply:builtins.slice - null - null - null fixed_tendon_names: null fixed_tendon_ids: !!python/object/apply:builtins.slice - null - null - null body_names: null body_ids: !!python/object/apply:builtins.slice - null - null - null object_collection_names: null object_collection_ids: !!python/object/apply:builtins.slice - null - null - null preserve_order: false object_cfg: name: dex_cube joint_names: null joint_ids: !!python/object/apply:builtins.slice - null - null - null fixed_tendon_names: null fixed_tendon_ids: !!python/object/apply:builtins.slice - null - null - null body_names: null body_ids: !!python/object/apply:builtins.slice - null - null - null object_collection_names: null object_collection_ids: !!python/object/apply:builtins.slice - null - null - null preserve_order: false modifiers: null noise: null clip: null scale: null history_length: 0 flatten_history_dim: true commands_cfg: object_pose: class_type: isaaclab.envs.mdp.commands.pose_command:UniformPoseCommand resampling_time_range: !!python/tuple - 5.0 - 5.0 debug_vis: true asset_name: robot body_name: panda_hand make_quat_unique: false ranges: pos_x: !!python/tuple - 0.4 - 0.6 pos_y: !!python/tuple - -0.25 - 0.25 pos_z: !!python/tuple - 0.255 - 0.455 roll: !!python/tuple - 0.0 - 0.0 pitch: !!python/tuple - 0.0 - 0.0 yaw: !!python/tuple - 0.0 - 0.0 goal_pose_visualizer_cfg: prim_path: /Visuals/Command/goal_pose markers: frame: func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd visible: true semantic_tags: null copy_from_source: true spawn_path: null mass_props: null deformable_props: null rigid_props: null collision_props: null activate_contact_sensors: false scale: !!python/tuple - 0.1 - 0.1 - 0.1 articulation_props: null fixed_tendons_props: null spatial_tendons_props: null joint_drive_props: null visual_material_path: material visual_material: null usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd variants: null connecting_line: func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder visible: true semantic_tags: null copy_from_source: true spawn_path: null mass_props: null rigid_props: null collision_props: null activate_contact_sensors: false visual_material_path: material visual_material: func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface diffuse_color: !!python/tuple - 1.0 - 1.0 - 0.0 emissive_color: !!python/tuple - 0.0 - 0.0 - 0.0 roughness: 1.0 metallic: 0.0 opacity: 1.0 physics_material_path: material physics_material: null radius: 0.002 height: 1.0 axis: Z current_pose_visualizer_cfg: prim_path: /Visuals/Command/body_pose markers: frame: func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd visible: true semantic_tags: null copy_from_source: true spawn_path: null mass_props: null deformable_props: null rigid_props: null collision_props: null activate_contact_sensors: false scale: !!python/tuple - 0.1 - 0.1 - 0.1 articulation_props: null fixed_tendons_props: null spatial_tendons_props: null joint_drive_props: null visual_material_path: material visual_material: null usd_path: https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd variants: null connecting_line: func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder visible: true semantic_tags: null copy_from_source: true spawn_path: null mass_props: null rigid_props: null collision_props: null activate_contact_sensors: false visual_material_path: material visual_material: func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface diffuse_color: !!python/tuple - 1.0 - 1.0 - 0.0 emissive_color: !!python/tuple - 0.0 - 0.0 - 0.0 roughness: 1.0 metallic: 0.0 opacity: 1.0 physics_material_path: material physics_material: null radius: 0.002 height: 1.0 axis: Z rewards_cfg: reaching_object: func: isaaclab_arena.tasks.rewards.rewards:object_ee_distance params: std: 0.1 object_cfg: name: dex_cube joint_names: null joint_ids: !!python/object/apply:builtins.slice - null - null - null fixed_tendon_names: null fixed_tendon_ids: !!python/object/apply:builtins.slice - null - null - null body_names: null body_ids: !!python/object/apply:builtins.slice - null - null - null object_collection_names: null object_collection_ids: !!python/object/apply:builtins.slice - null - null - null preserve_order: false ee_frame_cfg: name: ee_frame joint_names: null joint_ids: !!python/object/apply:builtins.slice - null - null - null fixed_tendon_names: null fixed_tendon_ids: !!python/object/apply:builtins.slice - null - null - null body_names: null body_ids: !!python/object/apply:builtins.slice - null - null - null object_collection_names: null object_collection_ids: !!python/object/apply:builtins.slice - null - null - null preserve_order: false weight: 1.0 lifting_object: func: isaaclab_arena.tasks.rewards.lift_object_rewards:object_is_lifted params: object_cfg: name: dex_cube joint_names: null joint_ids: !!python/object/apply:builtins.slice - null - null - null fixed_tendon_names: null fixed_tendon_ids: !!python/object/apply:builtins.slice - null - null - null body_names: null body_ids: !!python/object/apply:builtins.slice - null - null - null object_collection_names: null object_collection_ids: !!python/object/apply:builtins.slice - null - null - null preserve_order: false minimal_height: 0.04 weight: 15.0 object_goal_tracking: func: isaaclab_arena.tasks.rewards.lift_object_rewards:object_goal_distance params: std: 0.3 minimal_height: 0.04 command_name: object_pose robot_cfg: name: robot joint_names: null joint_ids: !!python/object/apply:builtins.slice - null - null - null fixed_tendon_names: null fixed_tendon_ids: !!python/object/apply:builtins.slice - null - null - null body_names: null body_ids: !!python/object/apply:builtins.slice - null - null - null object_collection_names: null object_collection_ids: !!python/object/apply:builtins.slice - null - null - null preserve_order: false object_cfg: name: dex_cube joint_names: null joint_ids: !!python/object/apply:builtins.slice - null - null - null fixed_tendon_names: null fixed_tendon_ids: !!python/object/apply:builtins.slice - null - null - null body_names: null body_ids: !!python/object/apply:builtins.slice - null - null - null object_collection_names: null object_collection_ids: !!python/object/apply:builtins.slice - null - null - null preserve_order: false weight: 16.0 object_goal_tracking_fine_grained: func: isaaclab_arena.tasks.rewards.lift_object_rewards:object_goal_distance params: std: 0.05 minimal_height: 0.04 command_name: object_pose robot_cfg: name: robot joint_names: null joint_ids: !!python/object/apply:builtins.slice - null - null - null fixed_tendon_names: null fixed_tendon_ids: !!python/object/apply:builtins.slice - null - null - null body_names: null body_ids: !!python/object/apply:builtins.slice - null - null - null object_collection_names: null object_collection_ids: !!python/object/apply:builtins.slice - null - null - null preserve_order: false object_cfg: name: dex_cube joint_names: null joint_ids: !!python/object/apply:builtins.slice - null - null - null fixed_tendon_names: null fixed_tendon_ids: !!python/object/apply:builtins.slice - null - null - null body_names: null body_ids: !!python/object/apply:builtins.slice - null - null - null object_collection_names: null object_collection_ids: !!python/object/apply:builtins.slice - null - null - null preserve_order: false weight: 5.0 teleop_device: null orchestrator: null env_cfg_callback: null rl_framework: _value_: rsl_rl _name_: RSL_RL _sort_order_: 0 rl_policy_cfg: isaaclab_arena_examples.policy.base_rsl_rl_policy:RLPolicyCfg