| viewer: | |
| eye: !!python/tuple | |
| - 7.5 | |
| - 7.5 | |
| - 7.5 | |
| lookat: !!python/tuple | |
| - 0.0 | |
| - 0.0 | |
| - 0.0 | |
| cam_prim_path: /OmniverseKit_Persp | |
| resolution: !!python/tuple | |
| - 1280 | |
| - 720 | |
| origin_type: world | |
| env_index: 0 | |
| asset_name: null | |
| body_name: null | |
| sim: | |
| physics_prim_path: /physicsScene | |
| device: cuda:0 | |
| dt: 0.01 | |
| render_interval: 5 | |
| gravity: !!python/tuple | |
| - 0.0 | |
| - 0.0 | |
| - -9.81 | |
| enable_scene_query_support: false | |
| use_fabric: true | |
| physx: | |
| solver_type: 1 | |
| 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: 1073741824 | |
| 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 | |
| solve_articulation_contact_last: false | |
| 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.base_env_window:BaseEnvWindow | |
| seed: 42 | |
| decimation: 5 | |
| is_finite_horizon: false | |
| episode_length_s: 120.0 | |
| scene: | |
| num_envs: 4096 | |
| env_spacing: 4.0 | |
| lazy_sensor_update: true | |
| replicate_physics: true | |
| filter_collisions: true | |
| clone_in_fabric: false | |
| 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: | |
| 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: false | |
| linear_damping: 0.1 | |
| angular_damping: 0.1 | |
| max_linear_velocity: 1000.0 | |
| max_angular_velocity: 3666.0 | |
| max_depenetration_velocity: 5.0 | |
| max_contact_impulse: 1000.0 | |
| enable_gyroscopic_forces: false | |
| retain_accelerations: null | |
| solver_position_iteration_count: 192 | |
| solver_velocity_iteration_count: 192 | |
| sleep_threshold: null | |
| stabilization_threshold: null | |
| collision_props: | |
| collision_enabled: null | |
| contact_offset: 0.05 | |
| rest_offset: 0.0 | |
| torsional_patch_radius: null | |
| min_torsional_patch_radius: null | |
| activate_contact_sensors: true | |
| scale: null | |
| articulation_props: | |
| articulation_enabled: null | |
| enabled_self_collisions: false | |
| solver_position_iteration_count: 192 | |
| solver_velocity_iteration_count: 192 | |
| 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: /home/ubuntu/gearboxAssembly/source/Galaxea_Lab_External/assets/Robots/Galaxea/r1_DVT_colored_cam_pos.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: | |
| left_arm_joint1: -0.3490658503988659 | |
| left_arm_joint2: 1.7558012275062955 | |
| left_arm_joint3: -0.41887902047863906 | |
| left_arm_joint4: 0.31066860685499065 | |
| left_arm_joint5: 0.6754424205218056 | |
| left_arm_joint6: 0.3508111796508603 | |
| left_gripper_axis1: 0.04 | |
| right_arm_joint1: -0.3490658503988659 | |
| right_arm_joint2: 1.759291886010284 | |
| right_arm_joint3: -0.3839724354387525 | |
| right_arm_joint4: -0.6981317007977318 | |
| right_arm_joint5: -1.1798425743481666 | |
| right_arm_joint6: 0.31590459461097364 | |
| right_gripper_axis1: 0.04 | |
| torso_joint1: 0.0 | |
| torso_joint2: 0.0 | |
| torso_joint3: 0.0 | |
| joint_vel: | |
| .*: 0.0 | |
| collision_group: 0 | |
| debug_vis: false | |
| articulation_root_prim_path: null | |
| soft_joint_pos_limit_factor: 1.0 | |
| actuators: | |
| r1_arms: | |
| class_type: isaaclab.actuators.actuator_pd:ImplicitActuator | |
| joint_names_expr: | |
| - .*_arm_joint[1-5] | |
| effort_limit: null | |
| velocity_limit: null | |
| effort_limit_sim: 87 | |
| velocity_limit_sim: 10 | |
| stiffness: 1050.0 | |
| damping: 100.0 | |
| armature: 0.1 | |
| friction: 0.0 | |
| dynamic_friction: null | |
| viscous_friction: null | |
| r1_eefs: | |
| class_type: isaaclab.actuators.actuator_pd:ImplicitActuator | |
| joint_names_expr: | |
| - .*_arm_joint6 | |
| effort_limit: null | |
| velocity_limit: null | |
| effort_limit_sim: 87 | |
| velocity_limit_sim: 10 | |
| stiffness: 1050.0 | |
| damping: 100.0 | |
| armature: 0.1 | |
| friction: 0.0 | |
| dynamic_friction: null | |
| viscous_friction: null | |
| r1_grippers: | |
| class_type: isaaclab.actuators.actuator_pd:ImplicitActuator | |
| joint_names_expr: | |
| - .*_gripper_axis1 | |
| effort_limit: null | |
| velocity_limit: null | |
| effort_limit_sim: 100.0 | |
| velocity_limit_sim: 0.07 | |
| stiffness: 25000.0 | |
| damping: 1000.0 | |
| armature: 0.2 | |
| friction: 0.2 | |
| dynamic_friction: null | |
| viscous_friction: null | |
| r1_torso: | |
| class_type: isaaclab.actuators.actuator_pd:ImplicitActuator | |
| joint_names_expr: | |
| - torso_joint[1-5] | |
| effort_limit: null | |
| velocity_limit: null | |
| effort_limit_sim: 87 | |
| velocity_limit_sim: 124.6 | |
| stiffness: 1050.0 | |
| damping: 100.0 | |
| armature: 0.0 | |
| friction: 0.0 | |
| 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: | |
| 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: 0.0 | |
| angular_damping: 0.0 | |
| max_linear_velocity: 0.0 | |
| max_angular_velocity: 0.0 | |
| max_depenetration_velocity: 1.0 | |
| max_contact_impulse: 1.0 | |
| enable_gyroscopic_forces: false | |
| retain_accelerations: null | |
| solver_position_iteration_count: 1 | |
| solver_velocity_iteration_count: 1 | |
| sleep_threshold: null | |
| stabilization_threshold: null | |
| collision_props: | |
| collision_enabled: null | |
| contact_offset: 0.005 | |
| rest_offset: 0.001 | |
| torsional_patch_radius: null | |
| min_torsional_patch_radius: null | |
| activate_contact_sensors: false | |
| scale: !!python/tuple | |
| - 0.005 | |
| - 0.008 | |
| - 0.009 | |
| 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/Props/table/OakTableLarge.usd | |
| variants: null | |
| init_state: | |
| pos: !!python/tuple | |
| - 0.75 | |
| - 0.0 | |
| - 0.0 | |
| rot: !!python/tuple | |
| - -0.70711 | |
| - 0.0 | |
| - 0.0 | |
| - 0.70711 | |
| 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 | |
| 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: | |
| 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/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 | |