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checkpoints/params/env.yaml

@@ -0,0 +1,993 @@
+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