Low_quality_left_high_quality_right
27 removals
| Words removed | 40 |
| Total words | 1733 |
| Words removed (%) | 2.31 |
920 lines
12 additions
| Words added | 16 |
| Total words | 1709 |
| Words added (%) | 0.94 |
906 lines
viewer:
viewer:
eye: !!python/tuple
eye: !!python/tuple
- 7.5
- 7.5
- 7.5
- 7.5
- 7.5
- 7.5
lookat: !!python/tuple
lookat: !!python/tuple
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
cam_prim_path: /OmniverseKit_Persp
cam_prim_path: /OmniverseKit_Persp
resolution: !!python/tuple
resolution: !!python/tuple
- 1280
- 1280
- 720
- 720
origin_type: world
origin_type: world
env_index: 0
env_index: 0
asset_name: null
asset_name: null
body_name: null
body_name: null
sim:
sim:
physics_prim_path: /physicsScene
physics_prim_path: /physicsScene
device: cuda:0
device: cuda:0
dt: 0.005
dt: 0.005
render_interval: 2
render_interval: 2
gravity: !!python/tuple
gravity: !!python/tuple
- 0.0
- 0.0
- 0.0
- 0.0
- -9.81
- -9.81
enable_scene_query_support: true
enable_scene_query_support: true
use_fabric: true
use_fabric: true
disable_contact_processing: false
disable_contact_processing: false
physx:
physx:
solver_type: 1
solver_type: 1
min_position_iteration_count: 1
min_position_iteration_count: 1
max_position_iteration_count: 255
max_position_iteration_count: 255
min_velocity_iteration_count: 0
min_velocity_iteration_count: 0
max_velocity_iteration_count: 255
max_velocity_iteration_count: 255
enable_ccd: false
enable_ccd: false
enable_stabilization: true
enable_stabilization: true
enable_enhanced_determinism: false
enable_enhanced_determinism: false
bounce_threshold_velocity: 0.01
bounce_threshold_velocity: 0.01
friction_offset_threshold: 0.04
friction_offset_threshold: 0.04
friction_correlation_distance: 0.00625
friction_correlation_distance: 0.00625
gpu_max_rigid_contact_count: 8388608
gpu_max_rigid_contact_count: 8388608
gpu_max_rigid_patch_count: 163840
gpu_max_rigid_patch_count: 163840
gpu_found_lost_pairs_capacity: 2097152
gpu_found_lost_pairs_capacity: 2097152
gpu_found_lost_aggregate_pairs_capacity: 4194304
gpu_found_lost_aggregate_pairs_capacity: 4194304
gpu_total_aggregate_pairs_capacity: 16384
gpu_total_aggregate_pairs_capacity: 16384
gpu_collision_stack_size: 67108864
gpu_collision_stack_size: 67108864
gpu_heap_capacity: 67108864
gpu_heap_capacity: 67108864
gpu_temp_buffer_capacity: 16777216
gpu_temp_buffer_capacity: 16777216
gpu_max_num_partitions: 8
gpu_max_num_partitions: 8
gpu_max_soft_body_contacts: 1048576
gpu_max_soft_body_contacts: 1048576
gpu_max_particle_contacts: 1048576
gpu_max_particle_contacts: 1048576
physics_material:
physics_material:
func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material
func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material
static_friction: 0.5
static_friction: 0.5
dynamic_friction: 0.5
dynamic_friction: 0.5
restitution: 0.0
restitution: 0.0
improve_patch_friction: true
improve_patch_friction: true
friction_combine_mode: average
friction_combine_mode: average
restitution_combine_mode: average
restitution_combine_mode: average
compliant_contact_stiffness: 0.0
compliant_contact_stiffness: 0.0
compliant_contact_damping: 0.0
compliant_contact_damping: 0.0
render:
render:
enable_translucency: false
enable_translucency: false
enable_reflections: false
enable_reflections: false
enable_global_illumination: false
enable_global_illumination: false
antialiasing_mode: DLSS
antialiasing_mode: DLSS
enable_dlssg: false
enable_dlssg: false
enable_dl_denoiser: false
enable_dl_denoiser: false
dlss_mode: 0
dlss_mode: 0
enable_direct_lighting: true
enable_direct_lighting: true
samples_per_pixel: 1
samples_per_pixel: 1
enable_shadows: true
enable_shadows: true
enable_ambient_occlusion: false
enable_ambient_occlusion: false
ui_window_class_type: isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow
ui_window_class_type: isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow
seed: 42
seed: 42
decimation: 2
decimation: 2
scene:
scene:
num_envs: 2048
num_envs: 2048
env_spacing: 3.5
env_spacing: 3.5
lazy_sensor_update: true
lazy_sensor_update: true
replicate_physics: true
replicate_physics: true
filter_collisions: true
filter_collisions: true
robot:
robot:
class_type: isaaclab.assets.articulation.articulation:Articulation
class_type: isaaclab.assets.articulation.articulation:Articulation
prim_path: /World/envs/env_.*/Robot
prim_path: /World/envs/env_.*/Robot
spawn:
spawn:
func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd
func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd
visible: true
visible: true
semantic_tags: null
semantic_tags: null
copy_from_source: true
copy_from_source: true
mass_props: null
mass_props: null
deformable_props: null
deformable_props: null
rigid_props:
rigid_props:
rigid_body_enabled: null
rigid_body_enabled: null
kinematic_enabled: null
kinematic_enabled: null
disable_gravity: true
disable_gravity: false
linear_damping: null
linear_damping: null
angular_damping: null
angular_damping: null
max_linear_velocity: null
max_linear_velocity: null
max_angular_velocity: null
max_angular_velocity: null
max_depenetration_velocity: 5.0
max_depenetration_velocity: 5.0
max_contact_impulse: null
max_contact_impulse: null
enable_gyroscopic_forces: null
enable_gyroscopic_forces: null
retain_accelerations: null
retain_accelerations: null
solver_position_iteration_count: null
solver_position_iteration_count: null
solver_velocity_iteration_count: null
solver_velocity_iteration_count: null
sleep_threshold: null
sleep_threshold: null
stabilization_threshold: null
stabilization_threshold: null
collision_props: null
collision_props: null
activate_contact_sensors: false
activate_contact_sensors: false
scale: null
scale: null
articulation_props:
articulation_props:
articulation_enabled: null
articulation_enabled: null
enabled_self_collisions: true
enabled_self_collisions: true
solver_position_iteration_count: 8
solver_position_iteration_count: 8
solver_velocity_iteration_count: 0
solver_velocity_iteration_count: 0
sleep_threshold: null
sleep_threshold: null
stabilization_threshold: null
stabilization_threshold: null
fix_root_link: null
fix_root_link: null
fixed_tendons_props: null
fixed_tendons_props: null
joint_drive_props: null
joint_drive_props: null
visual_material_path: material
visual_material_path: material
visual_material: null
visual_material: null
usd_path: /digitop_sim/digitop_sim/workpiece/panda_with_bat_v2.usd
usd_path: /digitop_sim/digitop_sim/workpiece/panda_with_bat_v2.usd
variants: null
variants: null
init_state:
init_state:
pos: !!python/tuple
pos: !!python/tuple
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rot: !!python/tuple
rot: !!python/tuple
- 1.0
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lin_vel: !!python/tuple
lin_vel: !!python/tuple
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
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ang_vel: !!python/tuple
ang_vel: !!python/tuple
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joint_pos:
joint_pos:
panda_joint1: 0.0
panda_joint1: 0.0
panda_joint2: 0.4747296
panda_joint2: 0.4747296
panda_joint3: 0.0
panda_joint3: 0.0
panda_joint4: -1.448623
panda_joint4: -1.448623
panda_joint5: 0.0
panda_joint5: 0.0
panda_joint6: 2.426008
panda_joint6: 2.426008
panda_joint7: 0.7998844
panda_joint7: 0.7998844
panda_finger_joint.*: 0.04
panda_finger_joint.*: 0.04
joint_vel:
joint_vel:
.*: 0.0
.*: 0.0
collision_group: 0
collision_group: 0
debug_vis: false
debug_vis: false
soft_joint_pos_limit_factor: 1.0
soft_joint_pos_limit_factor: 1.0
actuators:
actuators:
panda_shoulder:
panda_shoulder:
class_type: isaaclab.actuators.actuator_pd:ImplicitActuator
class_type: isaaclab.actuators.actuator_pd:ImplicitActuator
joint_names_expr:
joint_names_expr:
- panda_joint[1-4]
- panda_joint[1-4]
effort_limit: 87.0
effort_limit: 87.0
velocity_limit: 2.175
velocity_limit: 2.175
stiffness: 400.0
stiffness: 80.0
damping: 80.0
damping: 4.0
armature: null
armature: null
friction: null
friction: null
panda_forearm:
panda_forearm:
class_type: isaaclab.actuators.actuator_pd:ImplicitActuator
class_type: isaaclab.actuators.actuator_pd:ImplicitActuator
joint_names_expr:
joint_names_expr:
- panda_joint[5-7]
- panda_joint[5-7]
effort_limit: 12.0
effort_limit: 12.0
velocity_limit: 2.61
velocity_limit: 2.61
stiffness: 400.0
stiffness: 80.0
damping: 80.0
damping: 4.0
armature: null
armature: null
friction: null
friction: null
panda_hand:
panda_hand:
class_type: isaaclab.actuators.actuator_pd:ImplicitActuator
class_type: isaaclab.actuators.actuator_pd:ImplicitActuator
joint_names_expr:
joint_names_expr:
- panda_finger_joint.*
- panda_finger_joint.*
effort_limit: 200.0
effort_limit: 200.0
velocity_limit: 0.2
velocity_limit: 0.2
stiffness: 2000.0
stiffness: 2000.0
damping: 100.0
damping: 100.0
armature: null
armature: null
friction: null
friction: null
ee_frame:
ee_frame:
class_type: isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer
class_type: isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer
prim_path: /World/envs/env_.*/Robot/panda_link0
prim_path: /World/envs/env_.*/Robot/panda_link0
update_period: 0.0
update_period: 0.0
history_length: 0
history_length: 0
debug_vis: false
debug_vis: false
source_frame_offset:
source_frame_offset:
pos: !!python/tuple
pos: !!python/tuple
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
rot: !!python/tuple
rot: !!python/tuple
- 1.0
- 1.0
- 0.0
- 0.0
- 0.0
- 0.0
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target_frames:
target_frames:
- prim_path: /World/envs/env_.*/Robot/panda_bat
- prim_path: /World/envs/env_.*/Robot/panda_bat
name: end_effector
name: end_effector
offset:
offset:
pos:
pos:
- 0.0
- 0.0
- 0.0
- 0.0
- 0
- 0
rot: !!python/tuple
rot: !!python/tuple
- 1.0
- 1.0
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visualizer_cfg:
visualizer_cfg:
prim_path: /Visuals/FrameTransformer
prim_path: /Visuals/FrameTransformer
markers:
markers:
frame:
frame:
func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd
func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd
visible: true
visible: true
semantic_tags: null
semantic_tags: null
copy_from_source: true
copy_from_source: true
mass_props: null
mass_props: null
deformable_props: null
deformable_props: null
rigid_props: null
rigid_props: null
collision_props: null
collision_props: null
activate_contact_sensors: false
activate_contact_sensors: false
scale: !!python/tuple
scale: !!python/tuple
- 0.1
- 0.1
- 0.1
- 0.1
- 0.1
- 0.1
articulation_props: null
articulation_props: null
fixed_tendons_props: null
fixed_tendons_props: null
joint_drive_props: null
joint_drive_props: null
visual_material_path: material
visual_material_path: material
visual_material: null
visual_material: null
usd_path: http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5/Isaac/Props/UIElements/frame_prim.usd
usd_path: http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5/Isaac/Props/UIElements/frame_prim.usd
variants: null
variants: null
object:
object:
class_type: isaaclab.assets.rigid_object.rigid_object:RigidObject
class_type: isaaclab.assets.rigid_object.rigid_object:RigidObject
prim_path: /World/envs/env_.*/Object
prim_path: /World/envs/env_.*/Object
spawn:
spawn:
func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd
func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd
visible: true
visible: true
semantic_tags: null
semantic_tags: null
copy_from_source: true
copy_from_source: true
mass_props: null
mass_props: null
deformable_props: null
deformable_props: null
rigid_props:
rigid_props:
rigid_body_enabled: null
rigid_body_enabled: null
kinematic_enabled: null
kinematic_enabled: null
disable_gravity: false
disable_gravity: false
linear_damping: null
linear_damping: null
angular_damping: null
angular_damping: null
max_linear_velocity: 1000.0
max_linear_velocity: 1000.0
max_angular_velocity: 1000.0
max_angular_velocity: 1000.0
max_depenetration_velocity: 5.0
max_depenetration_velocity: 5.0
max_contact_impulse: null
max_contact_impulse: null
enable_gyroscopic_forces: null
enable_gyroscopic_forces: null
retain_accelerations: null
retain_accelerations: null
solver_position_iteration_count: 16
solver_position_iteration_count: 16
solver_velocity_iteration_count: 1
solver_velocity_iteration_count: 1
sleep_threshold: null
sleep_threshold: null
stabilization_threshold: null
stabilization_threshold: null
collision_props: null
collision_props: null
activate_contact_sensors: false
activate_contact_sensors: false
scale: !!python/tuple
scale: !!python/tuple
- 0.05
- 0.05
- 0.05
- 0.05
- 0.05
- 0.05
articulation_props: null
articulation_props: null
fixed_tendons_props: null
fixed_tendons_props: null
joint_drive_props: null
joint_drive_props: null
visual_material_path: material
visual_material_path: material
visual_material: null
visual_material: null
usd_path: /digitop_sim/digitop_sim/workpiece/bouncing_ball_flattened_red.usd
usd_path: /digitop_sim/digitop_sim/workpiece/bouncing_ball_flattened_red.usd
variants: null
variants: null
init_state:
init_state:
pos:
pos:
- 0.88
- 0.88
- 0
- 0
- 0.6
- 0.6
rot:
rot:
- 1
- 1
- 0
- 0
- 0
- 0
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lin_vel: !!python/tuple
lin_vel: !!python/tuple
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ang_vel: !!python/tuple
ang_vel: !!python/tuple
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collision_group: 0
collision_group: 0
debug_vis: false
debug_vis: false
table:
table:
class_type: null
class_type: null
prim_path: /World/envs/env_.*/Table
prim_path: /World/envs/env_.*/Table
spawn:
spawn:
func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd
func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd
visible: true
visible: true
semantic_tags: null
semantic_tags: null
copy_from_source: true
copy_from_source: true
mass_props: null
mass_props: null
deformable_props: null
deformable_props: null
rigid_props: null
rigid_props: null
collision_props: null
collision_props: null
activate_contact_sensors: false
activate_contact_sensors: false
scale: null
scale: null
articulation_props: null
articulation_props: null
fixed_tendons_props: null
fixed_tendons_props: null
joint_drive_props: null
joint_drive_props: null
visual_material_path: material
visual_material_path: material
visual_material: null
visual_material: null
usd_path: http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5/Isaac/Props/Mounts/SeattleLabTable/table_instanceable.usd
usd_path: http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5/Isaac/Props/Mounts/SeattleLabTable/table_instanceable.usd
variants: null
variants: null
init_state:
init_state:
pos:
pos:
- 0.5
- 0.5
- 0
- 0
- 0
- 0
rot:
rot:
- 0.707
- 0.707
- 0
- 0
- 0
- 0
- 0.707
- 0.707
collision_group: 0
collision_group: 0
debug_vis: false
debug_vis: false
plane:
plane:
class_type: null
class_type: null
prim_path: /World/GroundPlane
prim_path: /World/GroundPlane
spawn:
spawn:
func: isaaclab.sim.spawners.from_files.from_files:spawn_ground_plane
func: isaaclab.sim.spawners.from_files.from_files:spawn_ground_plane
visible: true
visible: true
semantic_tags: null
semantic_tags: null
copy_from_source: true
copy_from_source: true
usd_path: http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5/Isaac/Environments/Grid/default_environment.usd
usd_path: http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5/Isaac/Environments/Grid/default_environment.usd
color: !!python/tuple
color: !!python/tuple
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
size: !!python/tuple
size: !!python/tuple
- 100.0
- 100.0
- 100.0
- 100.0
physics_material:
physics_material:
func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material
func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material
static_friction: 0.5
static_friction: 0.5
dynamic_friction: 0.5
dynamic_friction: 0.5
restitution: 0.0
restitution: 0.0
improve_patch_friction: true
improve_patch_friction: true
friction_combine_mode: average
friction_combine_mode: average
restitution_combine_mode: average
restitution_combine_mode: average
compliant_contact_stiffness: 0.0
compliant_contact_stiffness: 0.0
compliant_contact_damping: 0.0
compliant_contact_damping: 0.0
init_state:
init_state:
pos:
pos:
- 0
- 0
- 0
- 0
- -1.05
- -1.05
rot: !!python/tuple
rot: !!python/tuple
- 1.0
- 1.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
collision_group: 0
collision_group: 0
debug_vis: false
debug_vis: false
light:
light:
class_type: null
class_type: null
prim_path: /World/light
prim_path: /World/light
spawn:
spawn:
func: isaaclab.sim.spawners.lights.lights:spawn_light
func: isaaclab.sim.spawners.lights.lights:spawn_light
visible: true
visible: true
semantic_tags: null
semantic_tags: null
copy_from_source: true
copy_from_source: true
prim_type: DomeLight
prim_type: DomeLight
color: !!python/tuple
color: !!python/tuple
- 0.75
- 0.75
- 0.75
- 0.75
- 0.75
- 0.75
enable_color_temperature: false
enable_color_temperature: false
color_temperature: 6500.0
color_temperature: 6500.0
normalize: false
normalize: false
exposure: 0.0
exposure: 0.0
intensity: 10000.0
intensity: 10000.0
texture_file: null
texture_file: null
texture_format: automatic
texture_format: automatic
visible_in_primary_ray: true
visible_in_primary_ray: true
init_state:
init_state:
pos: !!python/tuple
pos: !!python/tuple
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
rot: !!python/tuple
rot: !!python/tuple
- 1.0
- 1.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
collision_group: 0
collision_group: 0
debug_vis: false
debug_vis: false
recorders:
recorders:
dataset_file_handler_class_type: isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler
dataset_file_handler_class_type: isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler
dataset_export_dir_path: /tmp/isaaclab/logs
dataset_export_dir_path: /tmp/isaaclab/logs
dataset_filename: dataset
dataset_filename: dataset
dataset_export_mode:
dataset_export_mode:
_value_: 1
_value_: 1
_name_: EXPORT_ALL
_name_: EXPORT_ALL
export_in_record_pre_reset: true
export_in_record_pre_reset: true
observations:
observations:
policy:
policy:
concatenate_terms: true
concatenate_terms: true
enable_corruption: true
enable_corruption: true
history_length: null
history_length: null
flatten_history_dim: true
flatten_history_dim: true
ee_pose:
ee_pose:
func: digitop_sim_ext.tasks.manipulation.juggling.mdp.observations:robot_ee_pose_in_root_frame
func: digitop_sim_ext.tasks.manipulation.juggling.mdp.observations:robot_ee_pose_in_root_frame
params:
params:
robot_cfg:
robot_cfg:
name: robot
name: robot
joint_names: null
joint_names: null
joint_ids: !!python/object/apply:builtins.slice
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
body_names: null
body_names: null
body_ids: !!python/object/apply:builtins.slice
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
object_collection_names: null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
preserve_order: false
preserve_order: false
ee_frame_cfg:
ee_frame_cfg:
name: ee_frame
name: ee_frame
joint_names: null
joint_names: null
joint_ids: !!python/object/apply:builtins.slice
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
body_names: null
body_names: null
body_ids: !!python/object/apply:builtins.slice
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
object_collection_names: null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
preserve_order: false
preserve_order: false
modifiers: null
modifiers: null
noise: null
noise: null
clip: null
clip: null
scale: null
scale: null
history_length: 0
history_length: 0
flatten_history_dim: true
flatten_history_dim: true
joint_pos:
joint_pos:
func: isaaclab.envs.mdp.observations:joint_pos_rel
func: isaaclab.envs.mdp.observations:joint_pos_rel
params: {}
params: {}
modifiers: null
modifiers: null
noise: null
noise: null
clip: null
clip: null
scale: null
scale: null
history_length: 0
history_length: 0
flatten_history_dim: true
flatten_history_dim: true
joint_vel:
joint_vel:
func: isaaclab.envs.mdp.observations:joint_vel_rel
func: isaaclab.envs.mdp.observations:joint_vel_rel
params: {}
params: {}
modifiers: null
modifiers: null
noise: null
noise: null
clip: null
clip: null
scale: null
scale: null
history_length: 0
history_length: 0
flatten_history_dim: true
flatten_history_dim: true
object_pose:
object_pose:
func: digitop_sim_ext.tasks.manipulation.juggling.mdp.observations:object_position_in_robot_root_frame
func: digitop_sim_ext.tasks.manipulation.juggling.mdp.observations:object_position_in_robot_root_frame
params: {}
params: {}
modifiers: null
modifiers: null
noise: null
noise: null
clip: null
clip: null
scale: null
scale: null
history_length: 0
history_length: 0
flatten_history_dim: true
flatten_history_dim: true
object_lin_vel:
object_lin_vel:
func: digitop_sim_ext.tasks.manipulation.juggling.mdp.observations:object_lin_vel_in_robot_root_frame
func: digitop_sim_ext.tasks.manipulation.juggling.mdp.observations:object_lin_vel_in_robot_root_frame
params: {}
params: {}
modifiers: null
modifiers: null
noise: null
noise: null
clip: null
clip: null
scale: null
scale: null
history_length: 0
history_length: 0
flatten_history_dim: true
flatten_history_dim: true
actions:
actions:
func: isaaclab.envs.mdp.observations:last_action
func: isaaclab.envs.mdp.observations:last_action
params: {}
params: {}
modifiers: null
modifiers: null
noise: null
noise: null
clip: null
clip: null
scale: null
scale: null
history_length: 0
history_length: 0
flatten_history_dim: true
flatten_history_dim: true
actions:
actions:
arm_action:
arm_action:
class_type: isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction
class_type: isaaclab.envs.mdp.actions.joint_actions:JointPositionAction
asset_name: robot
asset_name: robot
debug_vis: false
debug_vis: false
clip: null
clip: null
joint_names:
joint_names:
- panda_joint.*
- panda_joint.*
body_name: panda_bat
scale: 0.25
body_offset:
offset: 0.0
pos:
preserve_order: false
- 0.0
use_default_offset: true
- 0.0
- 0
rot: !!python/tuple
- 1.0
- 0.0
- 0.0
- 0.0
scale: 0.5
controller:
class_type: isaaclab.controllers.differential_ik:DifferentialIKController
command_type: pose
use_relative_mode: true
ik_method: dls
ik_params:
lambda_val: 0.01
events:
events:
reset_all:
reset_all:
func: digitop_sim_ext.tasks.manipulation.juggling.mdp.events:reset_scene_to_default
func: digitop_sim_ext.tasks.manipulation.juggling.mdp.events:reset_scene_to_default
params: {}
params: {}
mode: reset
mode: reset
interval_range_s: null
interval_range_s: null
is_global_time: false
is_global_time: false
min_step_count_between_reset: 0
min_step_count_between_reset: 0
reset_object_position:
reset_object_position:
func: digitop_sim_ext.tasks.manipulation.juggling.mdp.events:reset_root_state_uniform
func: digitop_sim_ext.tasks.manipulation.juggling.mdp.events:reset_root_state_uniform
params:
params:
pose_range:
pose_range:
x: !!python/tuple
x: !!python/tuple
- -0.1
- -0.1
- 0.1
- 0.1
y: !!python/tuple
y: !!python/tuple
- -0.25
- -0.25
- 0.25
- 0.25
z: !!python/tuple
z: !!python/tuple
- 0.0
- 0.0
- 0.0
- 0.0
velocity_range: {}
velocity_range: {}
asset_cfg:
asset_cfg:
name: object
name: object
joint_names: null
joint_names: null
joint_ids: !!python/object/apply:builtins.slice
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
body_names: Object
body_names: Object
body_ids: !!python/object/apply:builtins.slice
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
object_collection_names: null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
preserve_order: false
preserve_order: false
mode: reset
mode: reset
interval_range_s: null
interval_range_s: null
is_global_time: false
is_global_time: false
min_step_count_between_reset: 0
min_step_count_between_reset: 0
rerender_on_reset: false
rerender_on_reset: false
wait_for_textures: true
wait_for_textures: true
is_finite_horizon: false
is_finite_horizon: false
episode_length_s: 3
episode_length_s: 3
rewards:
rewards:
ball_z_vel:
ball_z_vel:
func: digitop_sim_ext.tasks.manipulation.juggling.mdp.rewards:squared_lin_vel_z
func: digitop_sim_ext.tasks.manipulation.juggling.mdp.rewards:squared_lin_vel_z
params:
params:
asset_cfg:
asset_cfg:
name: object
name: object
joint_names: null
joint_names: null
joint_ids: !!python/object/apply:builtins.slice
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
body_names: null
body_names: null
body_ids: !!python/object/apply:builtins.slice
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
object_collection_names: null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
preserve_order: false
preserve_order: false
clip_value: 3.5
clip_value: 3.5
weight: 0.04
weight: 0.04
ball_xy_vel:
ball_xy_vel:
func: digitop_sim_ext.tasks.manipulation.juggling.mdp.rewards:lin_vel_xy
func: digitop_sim_ext.tasks.manipulation.juggling.mdp.rewards:lin_vel_xy
params:
params:
asset_cfg:
asset_cfg:
name: object
name: object
joint_names: null
joint_names: null
joint_ids: !!python/object/apply:builtins.slice
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
body_names: null
body_names: null
body_ids: !!python/object/apply:builtins.slice
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
object_collection_names: null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
preserve_order: false
preserve_order: false
weight: -0.02
weight: -0.02
bat_orientation:
bat_orientation:
func: digitop_sim_ext.tasks.manipulation.juggling.mdp.rewards:ee_rotation_from_horizontal
func: digitop_sim_ext.tasks.manipulation.juggling.mdp.rewards:ee_rotation_from_horizontal
params:
params:
robot_cfg:
robot_cfg:
name: robot
name: robot
joint_names: null
joint_names: null
joint_ids: !!python/object/apply:builtins.slice
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
body_names: null
body_names: null
body_ids: !!python/object/apply:builtins.slice
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
object_collection_names: null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
preserve_order: false
preserve_order: false
ee_frame_cfg:
ee_frame_cfg:
name: ee_frame
name: ee_frame
joint_names: null
joint_names: null
joint_ids: !!python/object/apply:builtins.slice
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
body_names: null
body_names: null
body_ids: !!python/object/apply:builtins.slice
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
object_collection_names: null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
preserve_order: false
preserve_order: false
weight: 0.1
weight: 0.1
reaching_object:
reaching_object:
func: digitop_sim_ext.tasks.manipulation.juggling.mdp.rewards:object_ee_distance_xy
func: digitop_sim_ext.tasks.manipulation.juggling.mdp.rewards:object_ee_distance_xy
params:
params:
std: 0.1
std: 0.1
weight: -1
weight: -1
object_above_ee:
object_above_ee:
func: digitop_sim_ext.tasks.manipulation.juggling.mdp.rewards:object_is_above_ee
func: digitop_sim_ext.tasks.manipulation.juggling.mdp.rewards:object_is_above_ee
params:
params:
object_cfg:
object_cfg:
name: object
name: object
joint_names: null
joint_names: null
joint_ids: !!python/object/apply:builtins.slice
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
body_names: null
body_names: null
body_ids: !!python/object/apply:builtins.slice
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
object_collection_names: null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
preserve_order: false
preserve_order: false
ee_frame_cfg:
ee_frame_cfg:
name: ee_frame
name: ee_frame
joint_names: null
joint_names: null
joint_ids: !!python/object/apply:builtins.slice
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
body_names: null
body_names: null
body_ids: !!python/object/apply:builtins.slice
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
object_collection_names: null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
preserve_order: false
preserve_order: false
weight: 0.1
weight: 0.1
ee_at_target_height:
ee_at_target_height:
func: digitop_sim_ext.tasks.manipulation.juggling.mdp.rewards:ee_at_target_height
func: digitop_sim_ext.tasks.manipulation.juggling.mdp.rewards:ee_at_target_height
params:
params:
robot_cfg:
robot_cfg:
name: robot
name: robot
joint_names: null
joint_names: null
joint_ids: !!python/object/apply:builtins.slice
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
body_names: null
body_names: null
body_ids: !!python/object/apply:builtins.slice
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
object_collection_names: null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
preserve_order: false
preserve_order: false
ee_frame_cfg:
ee_frame_cfg:
name: ee_frame
name: ee_frame
joint_names: null
joint_names: null
joint_ids: !!python/object/apply:builtins.slice
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
body_names: null
body_names: null
body_ids: !!python/object/apply:builtins.slice
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
object_collection_names: null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
preserve_order: false
preserve_order: false
weight: -0.1
weight: -0.1
terminations:
terminations:
time_out:
time_out:
func: isaaclab.envs.mdp.terminations:time_out
func: isaaclab.envs.mdp.terminations:time_out
params: {}
params: {}
time_out: true
time_out: true
object_dropping:
object_dropping:
func: isaaclab.envs.mdp.terminations:root_height_below_minimum
func: isaaclab.envs.mdp.terminations:root_height_below_minimum
params:
params:
minimum_height: -0.05
minimum_height: -0.05
asset_cfg:
asset_cfg:
name: object
name: object
joint_names: null
joint_names: null
joint_ids: !!python/object/apply:builtins.slice
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
fixed_tendon_names: null
fixed_tendon_names: null
fixed_tendon_ids: !!python/object/apply:builtins.slice
fixed_tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
body_names: null
body_names: null
body_ids: !!python/object/apply:builtins.slice
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
object_collection_names: null
object_collection_names: null
object_collection_ids: !!python/object/apply:builtins.slice
object_collection_ids: !!python/object/apply:builtins.slice
- null
- null
- null
- null
- null
- null
preserve_order: false
preserve_order: false
time_out: false
time_out: false
curriculum: {}
curriculum: {}
commands:
commands:
object_pose:
object_pose:
class_type: isaaclab.envs.mdp.commands.pose_command:UniformPoseCommand
class_type: isaaclab.envs.mdp.commands.pose_command:UniformPoseCommand
resampling_time_range: !!python/tuple
resampling_time_range: !!python/tuple
- 5.0
- 5.0
- 5.0
- 5.0
debug_vis: true
debug_vis: true
asset_name: robot
asset_name: robot
body_name: panda_bat
body_name: panda_bat
make_quat_unique: false
make_quat_unique: false
ranges:
ranges:
pos_x: !!python/tuple
pos_x: !!python/tuple
- 0.5
- 0.5
- 0.6
- 0.6
pos_y: !!python/tuple
pos_y: !!python/tuple
- -0.1
- -0.1
- 0.1
- 0.1
pos_z: !!python/tuple
pos_z: !!python/tuple
- 0.25
- 0.25
- 0.5
- 0.5
roll: !!python/tuple
roll: !!python/tuple
- 0.0
- 0.0
- 0.0
- 0.0
pitch: !!python/tuple
pitch: !!python/tuple
- 0.0
- 0.0
- 0.0
- 0.0
yaw: !!python/tuple
yaw: !!python/tuple
- 0.0
- 0.0
- 0.0
- 0.0
goal_pose_visualizer_cfg:
goal_pose_visualizer_cfg:
prim_path: /Visuals/Command/goal_pose
prim_path: /Visuals/Command/goal_pose
markers:
markers:
frame:
frame:
func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd
func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd
visible: true
visible: true
semantic_tags: null
semantic_tags: null
copy_from_source: true
copy_from_source: true
mass_props: null
mass_props: null
deformable_props: null
deformable_props: null
rigid_props: null
rigid_props: null
collision_props: null
collision_props: null
activate_contact_sensors: false
activate_contact_sensors: false
scale: !!python/tuple
scale: !!python/tuple
- 0.1
- 0.1
- 0.1
- 0.1
- 0.1
- 0.1
articulation_props: null
articulation_props: null
fixed_tendons_props: null
fixed_tendons_props: null
joint_drive_props: null
joint_drive_props: null
visual_material_path: material
visual_material_path: material
visual_material: null
visual_material: null
usd_path: http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5/Isaac/Props/UIElements/frame_prim.usd
usd_path: http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5/Isaac/Props/UIElements/frame_prim.usd
variants: null
variants: null
current_pose_visualizer_cfg:
current_pose_visualizer_cfg:
prim_path: /Visuals/Command/body_pose
prim_path: /Visuals/Command/body_pose
markers:
markers:
frame:
frame:
func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd
func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd
visible: true
visible: true
semantic_tags: null
semantic_tags: null
copy_from_source: true
copy_from_source: true
mass_props: null
mass_props: null
deformable_props: null
deformable_props: null
rigid_props: null
rigid_props: null
collision_props: null
collision_props: null
activate_contact_sensors: false
activate_contact_sensors: false
scale: !!python/tuple
scale: !!python/tuple
- 0.1
- 0.1
- 0.1
- 0.1
- 0.1
- 0.1
articulation_props: null
articulation_props: null
fixed_tendons_props: null
fixed_tendons_props: null
joint_drive_props: null
joint_drive_props: null
visual_material_path: material
visual_material_path: material
visual_material: null
visual_material: null
usd_path: http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5/Isaac/Props/UIEl
usd_path: http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5/Isaac/Props/UIElements/frame_prim.usd
variants: null