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