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gearboxAssembly-checkpoints

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gearboxAssembly-checkpoints
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viewer:
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sim:
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    gpu_max_particle_contacts: 1048576
    solve_articulation_contact_last: false
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    friction_combine_mode: average
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ui_window_class_type: isaaclab.envs.ui.base_env_window:BaseEnvWindow
seed: 42
decimation: 5
is_finite_horizon: false
episode_length_s: 120.0
scene:
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events: null
observation_space: 69
num_observations: null
state_space: 0
num_states: null
observation_noise_model: null
action_space: 14
num_actions: null
action_noise_model: null
rerender_on_reset: false
num_rerenders_on_reset: 5
wait_for_textures: true
xr: null
log_dir: null
robot_cfg:
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      sleep_threshold: null
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    scale: null
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      solver_position_iteration_count: 192
      solver_velocity_iteration_count: 192
      sleep_threshold: null
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    variants: null
  init_state:
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    rot: !!python/tuple
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    ang_vel: !!python/tuple
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  collision_group: 0
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  articulation_root_prim_path: null
  soft_joint_pos_limit_factor: 1.0
  actuators:
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      joint_names_expr:
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      effort_limit: null
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      effort_limit_sim: 87
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      armature: 0.1
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    r1_eefs:
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      joint_names_expr:
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      velocity_limit: null
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    r1_grippers:
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      joint_names_expr:
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      velocity_limit: null
      effort_limit_sim: 100.0
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      dynamic_friction: null
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    r1_torso:
      class_type: isaaclab.actuators.actuator_pd:ImplicitActuator
      joint_names_expr:
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      effort_limit: null
      velocity_limit: null
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      velocity_limit_sim: 124.6
      stiffness: 1050.0
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      armature: 0.0
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      dynamic_friction: null
      viscous_friction: null
  actuator_value_resolution_debug_print: false
table_cfg:
  class_type: isaaclab.assets.rigid_object.rigid_object:RigidObject
  prim_path: /World/envs/env_.*/Table
  spawn:
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    semantic_tags: null
    copy_from_source: true
    mass_props: null
    deformable_props: null
    rigid_props:
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    collision_props:
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    scale: !!python/tuple
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    articulation_props: null
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    joint_drive_props: null
    visual_material_path: material
    visual_material: null
    usd_path: /home/ubuntu/gearboxAssembly/source/Galaxea_Lab_External/assets/Props/table/OakTableLarge.usd
    variants: null
  init_state:
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    rot: !!python/tuple
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    ang_vel: !!python/tuple
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  collision_group: 0
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ring_gear_cfg:
  class_type: isaaclab.assets.rigid_object.rigid_object:RigidObject
  prim_path: /World/envs/env_.*/ring_gear
  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:
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      kinematic_enabled: null
      disable_gravity: false
      linear_damping: 0.01
      angular_damping: 0.01
      max_linear_velocity: 1.0
      max_angular_velocity: 1.0
      max_depenetration_velocity: 0.5
      max_contact_impulse: 0.5
      enable_gyroscopic_forces: false
      retain_accelerations: null
      solver_position_iteration_count: 16
      solver_velocity_iteration_count: 16
      sleep_threshold: null
      stabilization_threshold: null
    collision_props:
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      contact_offset: 0.0
      rest_offset: 0.0005
      torsional_patch_radius: null
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    activate_contact_sensors: false
    scale: !!python/tuple
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    articulation_props: null
    fixed_tendons_props: null
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    joint_drive_props: null
    visual_material_path: material
    visual_material: null
    usd_path: /home/ubuntu/gearboxAssembly/source/Galaxea_Lab_External/assets/Gearbox/ring_gear_3x_scale.usd
    variants: null
  init_state:
    pos: !!python/tuple
    - 0.45
    - 0.0
    - 1.0
    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
  collision_group: 0
  debug_vis: false
sun_planetary_gear_1_cfg:
  class_type: isaaclab.assets.rigid_object.rigid_object:RigidObject
  prim_path: /World/envs/env_.*/sun_planetary_gear_1
  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: false
      linear_damping: 0.01
      angular_damping: 0.01
      max_linear_velocity: 1.0
      max_angular_velocity: 1.0
      max_depenetration_velocity: 0.5
      max_contact_impulse: 0.5
      enable_gyroscopic_forces: false
      retain_accelerations: null
      solver_position_iteration_count: 16
      solver_velocity_iteration_count: 16
      sleep_threshold: null
      stabilization_threshold: null
    collision_props:
      collision_enabled: null
      contact_offset: 0.0
      rest_offset: 0.0005
      torsional_patch_radius: null
      min_torsional_patch_radius: null
    activate_contact_sensors: false
    scale: !!python/tuple
    - 0.001
    - 0.001
    - 0.001
    articulation_props: null
    fixed_tendons_props: null
    spatial_tendons_props: null
    joint_drive_props: null
    visual_material_path: material
    visual_material: null
    usd_path: /home/ubuntu/gearboxAssembly/source/Galaxea_Lab_External/assets/Gearbox/sun_planetary_gear_3x_scale.usd
    variants: null
  init_state:
    pos: !!python/tuple
    - 0.4
    - -0.2
    - 1.0
    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
  collision_group: 0
  debug_vis: false
sun_planetary_gear_2_cfg:
  class_type: isaaclab.assets.rigid_object.rigid_object:RigidObject
  prim_path: /World/envs/env_.*/sun_planetary_gear_2
  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: false
      linear_damping: 0.01
      angular_damping: 0.01
      max_linear_velocity: 1.0
      max_angular_velocity: 1.0
      max_depenetration_velocity: 0.5
      max_contact_impulse: 0.5
      enable_gyroscopic_forces: false
      retain_accelerations: null
      solver_position_iteration_count: 16
      solver_velocity_iteration_count: 16
      sleep_threshold: null
      stabilization_threshold: null
    collision_props:
      collision_enabled: null
      contact_offset: 0.0
      rest_offset: 0.0005
      torsional_patch_radius: null
      min_torsional_patch_radius: null
    activate_contact_sensors: false
    scale: !!python/tuple
    - 0.001
    - 0.001
    - 0.001
    articulation_props: null
    fixed_tendons_props: null
    spatial_tendons_props: null
    joint_drive_props: null
    visual_material_path: material
    visual_material: null
    usd_path: /home/ubuntu/gearboxAssembly/source/Galaxea_Lab_External/assets/Gearbox/sun_planetary_gear_3x_scale.usd
    variants: null
  init_state:
    pos: !!python/tuple
    - 0.5
    - -0.25
    - 1.0
    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
  collision_group: 0
  debug_vis: false
sun_planetary_gear_3_cfg:
  class_type: isaaclab.assets.rigid_object.rigid_object:RigidObject
  prim_path: /World/envs/env_.*/sun_planetary_gear_3
  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: false
      linear_damping: 0.01
      angular_damping: 0.01
      max_linear_velocity: 1.0
      max_angular_velocity: 1.0
      max_depenetration_velocity: 0.5
      max_contact_impulse: 0.5
      enable_gyroscopic_forces: false
      retain_accelerations: null
      solver_position_iteration_count: 16
      solver_velocity_iteration_count: 16
      sleep_threshold: null
      stabilization_threshold: null
    collision_props:
      collision_enabled: null
      contact_offset: 0.0
      rest_offset: 0.0005
      torsional_patch_radius: null
      min_torsional_patch_radius: null
    activate_contact_sensors: false
    scale: !!python/tuple
    - 0.001
    - 0.001
    - 0.001
    articulation_props: null
    fixed_tendons_props: null
    spatial_tendons_props: null
    joint_drive_props: null
    visual_material_path: material
    visual_material: null
    usd_path: /home/ubuntu/gearboxAssembly/source/Galaxea_Lab_External/assets/Gearbox/sun_planetary_gear_3x_scale.usd
    variants: null
  init_state:
    pos: !!python/tuple
    - 0.45
    - -0.15
    - 1.0
    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
  collision_group: 0
  debug_vis: false
sun_planetary_gear_4_cfg:
  class_type: isaaclab.assets.rigid_object.rigid_object:RigidObject
  prim_path: /World/envs/env_.*/sun_planetary_gear_4
  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: false
      linear_damping: 0.01
      angular_damping: 0.01
      max_linear_velocity: 1.0
      max_angular_velocity: 1.0
      max_depenetration_velocity: 0.5
      max_contact_impulse: 0.5
      enable_gyroscopic_forces: false
      retain_accelerations: null
      solver_position_iteration_count: 16
      solver_velocity_iteration_count: 16
      sleep_threshold: null
      stabilization_threshold: null
    collision_props:
      collision_enabled: null
      contact_offset: 0.0
      rest_offset: 0.0005
      torsional_patch_radius: null
      min_torsional_patch_radius: null
    activate_contact_sensors: false
    scale: !!python/tuple
    - 0.001
    - 0.001
    - 0.001
    articulation_props: null
    fixed_tendons_props: null
    spatial_tendons_props: null
    joint_drive_props: null
    visual_material_path: material
    visual_material: null
    usd_path: /home/ubuntu/gearboxAssembly/source/Galaxea_Lab_External/assets/Gearbox/sun_planetary_gear_3x_scale.usd
    variants: null
  init_state:
    pos: !!python/tuple
    - 0.55
    - -0.3
    - 1.0
    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
  collision_group: 0
  debug_vis: false
planetary_carrier_cfg:
  class_type: isaaclab.assets.rigid_object.rigid_object:RigidObject
  prim_path: /World/envs/env_.*/planetary_carrier
  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: false
      linear_damping: 0.01
      angular_damping: 0.01
      max_linear_velocity: 1.0
      max_angular_velocity: 1.0
      max_depenetration_velocity: 0.5
      max_contact_impulse: 0.5
      enable_gyroscopic_forces: false
      retain_accelerations: null
      solver_position_iteration_count: 16
      solver_velocity_iteration_count: 16
      sleep_threshold: null
      stabilization_threshold: null
    collision_props:
      collision_enabled: null
      contact_offset: 0.0
      rest_offset: 0.0005
      torsional_patch_radius: null
      min_torsional_patch_radius: null
    activate_contact_sensors: false
    scale: !!python/tuple
    - 0.001
    - 0.001
    - 0.001
    articulation_props: null
    fixed_tendons_props: null
    spatial_tendons_props: null
    joint_drive_props: null
    visual_material_path: material
    visual_material: null
    usd_path: /home/ubuntu/gearboxAssembly/source/Galaxea_Lab_External/assets/Gearbox/planetary_carrier_3x_scale.usd
    variants: null
  init_state:
    pos: !!python/tuple
    - 0.5
    - 0.25
    - 1.0
    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
  collision_group: 0
  debug_vis: false
planetary_reducer_cfg:
  class_type: isaaclab.assets.rigid_object.rigid_object:RigidObject
  prim_path: /World/envs/env_.*/planetary_reducer
  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: false
      linear_damping: 0.01
      angular_damping: 0.01
      max_linear_velocity: 1.0
      max_angular_velocity: 1.0
      max_depenetration_velocity: 1.0
      max_contact_impulse: 1.0
      enable_gyroscopic_forces: false
      retain_accelerations: null
      solver_position_iteration_count: 16
      solver_velocity_iteration_count: 16
      sleep_threshold: null
      stabilization_threshold: null
    collision_props:
      collision_enabled: null
      contact_offset: 0.0
      rest_offset: 0.0
      torsional_patch_radius: null
      min_torsional_patch_radius: null
    activate_contact_sensors: false
    scale: !!python/tuple
    - 0.001
    - 0.001
    - 0.001
    articulation_props: null
    fixed_tendons_props: null
    spatial_tendons_props: null
    joint_drive_props: null
    visual_material_path: material
    visual_material: null
    usd_path: /home/ubuntu/gearboxAssembly/source/Galaxea_Lab_External/assets/Gearbox/planetary_reducer_3x_scale.usd
    variants: null
  init_state:
    pos: !!python/tuple
    - 0.3
    - 0.1
    - 1.0
    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
  collision_group: 0
  debug_vis: false
head_camera_cfg:
  class_type: isaaclab.sensors.camera.camera:Camera
  prim_path: /World/envs/env_.*/Robot/zed_link/head_cam/head_cam
  update_period: 0.0
  history_length: 0
  debug_vis: false
  offset:
    pos: !!python/tuple
    - 0.0
    - 0.0
    - 0.0
    rot: !!python/tuple
    - 1.0
    - 0.0
    - 0.0
    - 0.0
    convention: opengl
  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
    - 100
    focal_length: 2.12
    focus_distance: 100.0
    f_stop: 0.0
    horizontal_aperture: 6.055
    vertical_aperture: null
    horizontal_aperture_offset: 0.0
    vertical_aperture_offset: 0.0
    lock_camera: true
  depth_clipping_behavior: none
  data_types:
  - rgb
  - distance_to_image_plane
  width: 320
  height: 240
  update_latest_camera_pose: false
  semantic_filter: '*:*'
  colorize_semantic_segmentation: true
  colorize_instance_id_segmentation: true
  colorize_instance_segmentation: true
  semantic_segmentation_mapping: {}
left_hand_camera_cfg:
  class_type: isaaclab.sensors.camera.camera:Camera
  prim_path: /World/envs/env_.*/Robot/left_realsense_link/left_hand_cam/left_hand_cam
  update_period: 0.0
  history_length: 0
  debug_vis: false
  offset:
    pos: !!python/tuple
    - 0.0
    - 0.0
    - 0.0
    rot: !!python/tuple
    - 1.0
    - 0.0
    - 0.0
    - 0.0
    convention: opengl
  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
    - 100
    focal_length: 2.12
    focus_distance: 100.0
    f_stop: 0.0
    horizontal_aperture: 6.055
    vertical_aperture: null
    horizontal_aperture_offset: 0.0
    vertical_aperture_offset: 0.0
    lock_camera: true
  depth_clipping_behavior: none
  data_types:
  - rgb
  - distance_to_image_plane
  width: 320
  height: 240
  update_latest_camera_pose: false
  semantic_filter: '*:*'
  colorize_semantic_segmentation: true
  colorize_instance_id_segmentation: true
  colorize_instance_segmentation: true
  semantic_segmentation_mapping: {}
right_hand_camera_cfg:
  class_type: isaaclab.sensors.camera.camera:Camera
  prim_path: /World/envs/env_.*/Robot/right_realsense_link/right_hand_cam/right_hand_cam
  update_period: 0.0
  history_length: 0
  debug_vis: false
  offset:
    pos: !!python/tuple
    - 0.0
    - 0.0
    - 0.0
    rot: !!python/tuple
    - 1.0
    - 0.0
    - 0.0
    - 0.0
    convention: opengl
  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
    - 100
    focal_length: 2.12
    focus_distance: 100.0
    f_stop: 0.0
    horizontal_aperture: 6.055
    vertical_aperture: null
    horizontal_aperture_offset: 0.0
    vertical_aperture_offset: 0.0
    lock_camera: true
  depth_clipping_behavior: none
  data_types:
  - rgb
  - distance_to_image_plane
  width: 320
  height: 240
  update_latest_camera_pose: false
  semantic_filter: '*:*'
  colorize_semantic_segmentation: true
  colorize_instance_id_segmentation: true
  colorize_instance_segmentation: true
  semantic_segmentation_mapping: {}
record_data: false
record_freq: 5
enable_cameras: false
sim_dt: 0.01
table_friction_coefficient: 0.4
gears_friction_coefficient: 0.01
gripper_friction_coefficient: 2.0
left_arm_joint_dof_name: left_arm_joint.*
right_arm_joint_dof_name: right_arm_joint.*
left_gripper_dof_name: left_gripper_axis1
right_gripper_dof_name: right_gripper_axis1
torso_joint_dof_name: torso_joint[1-3]
torso_joint1_dof_name: torso_joint1
torso_joint2_dof_name: torso_joint2
torso_joint3_dof_name: torso_joint3
torso_joint4_dof_name: torso_joint4
initial_torso_joint1_pos: 0.5
initial_torso_joint2_pos: -0.8
initial_torso_joint3_pos: 0.5
x_offset: 0.2
assembly_precision: 0.01
stage_timeout_approach: 10.0
stage_timeout_grasp: 5.0
stage_timeout_transport: 15.0
reward_approach_distance_weight: 0.1
reward_approach_height_weight: 0.1
reward_approach_orientation_weight: 0.1
reward_approach_gripper_open_weight: 0.05
reward_approach_complete_bonus: 1.0
reward_grasp_gripper_weight: 0.1
reward_grasp_contact_weight: 0.1
reward_grasp_lift_weight: 0.1
reward_grasp_complete_bonus: 2.0
reward_transport_distance_weight: 0.2
reward_transport_height_weight: 0.2
reward_transport_orientation_weight: 0.1
reward_transport_stability_weight: 0.1
reward_transport_complete_bonus: 10.0
reward_transition_bonus: 5.0
reward_time_penalty: 0.001
approach_distance_threshold: 0.05
approach_horizontal_threshold: 0.03
approach_height_threshold: 0.02
approach_orientation_threshold: 0.3
approach_orientation_dot_threshold: 0.95
gripper_open_threshold: 0.03
pre_grasp_height_offset: 0.05
grasp_gripper_closed_threshold: 0.8
grasp_contact_force_threshold: 2.0
grasp_lift_height: 0.1
transport_position_threshold: 0.01
transport_orientation_threshold: 0.1
transport_stability_velocity_threshold: 0.01
gear_sequence:
- gear_1
- gear_2
- gear_3
- gear_4
- carrier
- reducer
pin_0_local_pos: !!python/tuple
- 0.0
- -0.054
- 0.0
pin_1_local_pos: !!python/tuple
- 0.0471
- 0.0268
- 0.0
pin_2_local_pos: !!python/tuple
- -0.0471
- 0.0268
- 0.0
tcp_offset_x: 0.0079
tcp_offset_z: 0.0909
table_height: 0.9
grasping_height: -0.003
lifting_height: 0.2
training_subtask: full
curriculum_start_gear_idx: 0