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viewer:

eye: !!python/tuple

- 7.5

lookat: !!python/tuple

- 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: 0.005

render_interval: 2

gravity: !!python/tuple

- 0.0

- -9.81

enable_scene_query_support: true

use_fabric: true

disable_contact_processing: false

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: true

enable_enhanced_determinism: false

bounce_threshold_velocity: 0.01

friction_offset_threshold: 0.04

friction_correlation_distance: 0.00625

gpu_max_rigid_contact_count: 8388608

gpu_max_rigid_patch_count: 163840

gpu_found_lost_pairs_capacity: 2097152

gpu_found_lost_aggregate_pairs_capacity: 4194304

gpu_total_aggregate_pairs_capacity: 16384

gpu_collision_stack_size: 67108864

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

physics_material:

func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material

static_friction: 0.5

dynamic_friction: 0.5

restitution: 0.0

improve_patch_friction: true

friction_combine_mode: average

restitution_combine_mode: average

compliant_contact_stiffness: 0.0

compliant_contact_damping: 0.0

render:

enable_translucency: false

enable_reflections: false

enable_global_illumination: false

antialiasing_mode: DLSS

enable_dlssg: false

enable_dl_denoiser: false

dlss_mode: 0

enable_direct_lighting: true

samples_per_pixel: 1

enable_shadows: true

enable_ambient_occlusion: false

ui_window_class_type: isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow

seed: 42

decimation: 2

scene:

num_envs: 2048

env_spacing: 3.5

lazy_sensor_update: true

replicate_physics: true

filter_collisions: true

robot:

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: true

disable_gravity: false

linear_damping: null

angular_damping: null

max_linear_velocity: null

max_angular_velocity: null

max_depenetration_velocity: 5.0

max_contact_impulse: null

enable_gyroscopic_forces: null

retain_accelerations: null

solver_position_iteration_count: null

solver_velocity_iteration_count: null

sleep_threshold: null

stabilization_threshold: null

collision_props: null

activate_contact_sensors: false

scale: null

articulation_props:

articulation_enabled: null

enabled_self_collisions: true

solver_position_iteration_count: 8

solver_velocity_iteration_count: 0

sleep_threshold: null

stabilization_threshold: null

fix_root_link: null

fixed_tendons_props: null

joint_drive_props: null

visual_material_path: material

visual_material: null

usd_path: /digitop_sim/digitop_sim/workpiece/panda_with_bat_v2.usd

variants: null

init_state:

pos: !!python/tuple

- 0.0

rot: !!python/tuple

- 1.0

- 0.0

lin_vel: !!python/tuple

- 0.0

ang_vel: !!python/tuple

- 0.0

joint_pos:

panda_joint1: 0.0

panda_joint2: 0.4747296

panda_joint3: 0.0

panda_joint4: -1.448623

panda_joint5: 0.0

panda_joint6: 2.426008

panda_joint7: 0.7998844

panda_finger_joint.*: 0.04

joint_vel:

.*: 0.0

collision_group: 0

debug_vis: false

soft_joint_pos_limit_factor: 1.0

actuators:

panda_shoulder:

class_type: isaaclab.actuators.actuator_pd:ImplicitActuator

joint_names_expr:

- panda_joint[1-4]

effort_limit: 87.0

velocity_limit: 2.175

stiffness: 400.0

stiffness: 80.0

damping: 80.0

damping: 4.0

armature: null

friction: null

panda_forearm:

class_type: isaaclab.actuators.actuator_pd:ImplicitActuator

joint_names_expr:

- panda_joint[5-7]

effort_limit: 12.0

velocity_limit: 2.61

stiffness: 400.0

stiffness: 80.0

damping: 80.0

damping: 4.0

armature: null

friction: null

panda_hand:

class_type: isaaclab.actuators.actuator_pd:ImplicitActuator

joint_names_expr:

- panda_finger_joint.*

effort_limit: 200.0

velocity_limit: 0.2

stiffness: 2000.0

damping: 100.0

armature: null

friction: null

ee_frame:

class_type: isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer

prim_path: /World/envs/env_.*/Robot/panda_link0

update_period: 0.0

history_length: 0

debug_vis: false

source_frame_offset:

pos: !!python/tuple

- 0.0

rot: !!python/tuple

- 1.0

- 0.0

target_frames:

- prim_path: /World/envs/env_.*/Robot/panda_bat

offset:

pos:

- 0.0

- 0

rot: !!python/tuple

- 1.0

- 0.0

visualizer_cfg:

prim_path: /Visuals/FrameTransformer

markers:

frame:

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: null

collision_props: null

activate_contact_sensors: false

scale: !!python/tuple

- 0.1

articulation_props: null

fixed_tendons_props: null

joint_drive_props: null

visual_material_path: material

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

variants: null

object:

class_type: isaaclab.assets.rigid_object.rigid_object:RigidObject

prim_path: /World/envs/env_.*/Object

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: null

angular_damping: null

max_linear_velocity: 1000.0

max_angular_velocity: 1000.0

max_depenetration_velocity: 5.0

max_contact_impulse: null

enable_gyroscopic_forces: null

retain_accelerations: null

solver_position_iteration_count: 16

solver_velocity_iteration_count: 1

sleep_threshold: null

stabilization_threshold: null

collision_props: null

activate_contact_sensors: false

scale: !!python/tuple

- 0.05

articulation_props: null

fixed_tendons_props: null

joint_drive_props: null

visual_material_path: material

visual_material: null

usd_path: /digitop_sim/digitop_sim/workpiece/bouncing_ball_flattened_red.usd

variants: null

init_state:

pos:

- 0.88

- 0

- 0.6

rot:

- 1

- 0

lin_vel: !!python/tuple

- 0.0

ang_vel: !!python/tuple

- 0.0

collision_group: 0

debug_vis: false

table:

class_type: null

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: null

collision_props: null

activate_contact_sensors: false

scale: null

articulation_props: null

fixed_tendons_props: null

joint_drive_props: null

visual_material_path: material

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

variants: null

init_state:

pos:

- 0.5

- 0

rot:

- 0.707

- 0

- 0.707

collision_group: 0

debug_vis: false

plane:

class_type: null

prim_path: /World/GroundPlane

spawn:

func: isaaclab.sim.spawners.from_files.from_files:spawn_ground_plane

visible: true

semantic_tags: null

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

color: !!python/tuple

- 0.0

size: !!python/tuple

- 100.0

physics_material:

func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material

static_friction: 0.5

dynamic_friction: 0.5

restitution: 0.0

improve_patch_friction: true

friction_combine_mode: average

restitution_combine_mode: average

compliant_contact_stiffness: 0.0

compliant_contact_damping: 0.0

init_state:

pos:

- 0

- -1.05

rot: !!python/tuple

- 1.0

- 0.0

collision_group: 0

debug_vis: false

light:

class_type: null

prim_path: /World/light

spawn:

func: isaaclab.sim.spawners.lights.lights:spawn_light

visible: true

semantic_tags: null

copy_from_source: true

prim_type: DomeLight

color: !!python/tuple

- 0.75

enable_color_temperature: false

color_temperature: 6500.0

normalize: false

exposure: 0.0

intensity: 10000.0

texture_file: null

texture_format: automatic

visible_in_primary_ray: true

init_state:

pos: !!python/tuple

- 0.0

rot: !!python/tuple

- 1.0

- 0.0

collision_group: 0

debug_vis: false

recorders:

dataset_file_handler_class_type: isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler

dataset_export_dir_path: /tmp/isaaclab/logs

dataset_filename: dataset

dataset_export_mode:

_value_: 1

_name_: EXPORT_ALL

export_in_record_pre_reset: true

observations:

policy:

concatenate_terms: true

enable_corruption: true

history_length: null

flatten_history_dim: true

ee_pose:

func: digitop_sim_ext.tasks.manipulation.juggling.mdp.observations:robot_ee_pose_in_root_frame

params:

robot_cfg:

joint_names: null

joint_ids: !!python/object/apply:builtins.slice

- null

fixed_tendon_names: null

fixed_tendon_ids: !!python/object/apply:builtins.slice

- null

body_names: null

body_ids: !!python/object/apply:builtins.slice

- null

object_collection_names: null

object_collection_ids: !!python/object/apply:builtins.slice

- null

preserve_order: false

ee_frame_cfg:

joint_names: null

joint_ids: !!python/object/apply:builtins.slice

- null

fixed_tendon_names: null

fixed_tendon_ids: !!python/object/apply:builtins.slice

- null

body_names: null

body_ids: !!python/object/apply:builtins.slice

- null

object_collection_names: null

object_collection_ids: !!python/object/apply:builtins.slice

- null

preserve_order: false

modifiers: null

noise: null

clip: null

scale: null

history_length: 0

flatten_history_dim: true

joint_pos:

func: isaaclab.envs.mdp.observations:joint_pos_rel

params: {}

modifiers: null

noise: null

clip: null

scale: null

history_length: 0

flatten_history_dim: true

joint_vel:

func: isaaclab.envs.mdp.observations:joint_vel_rel

params: {}

modifiers: null

noise: null

clip: null

scale: null

history_length: 0

flatten_history_dim: true

object_pose:

func: digitop_sim_ext.tasks.manipulation.juggling.mdp.observations:object_position_in_robot_root_frame

params: {}

modifiers: null

noise: null

clip: null

scale: null

history_length: 0

flatten_history_dim: true

object_lin_vel:

func: digitop_sim_ext.tasks.manipulation.juggling.mdp.observations:object_lin_vel_in_robot_root_frame

params: {}

modifiers: null

noise: null

clip: null

scale: null

history_length: 0

flatten_history_dim: true

actions:

func: isaaclab.envs.mdp.observations:last_action

params: {}

modifiers: null

noise: null

clip: null

scale: null

history_length: 0

flatten_history_dim: true

actions:

arm_action:

class_type: isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction

class_type: isaaclab.envs.mdp.actions.joint_actions:JointPositionAction

asset_name: robot

debug_vis: false

clip: null

joint_names:

- 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

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:

reset_all:

func: digitop_sim_ext.tasks.manipulation.juggling.mdp.events:reset_scene_to_default

params: {}

mode: reset

interval_range_s: null

is_global_time: false

min_step_count_between_reset: 0

reset_object_position:

func: digitop_sim_ext.tasks.manipulation.juggling.mdp.events:reset_root_state_uniform

params:

pose_range:

x: !!python/tuple

- -0.1

- 0.1

y: !!python/tuple

- -0.25

- 0.25

z: !!python/tuple

- 0.0

velocity_range: {}

asset_cfg:

joint_names: null

joint_ids: !!python/object/apply:builtins.slice

- null

fixed_tendon_names: null

fixed_tendon_ids: !!python/object/apply:builtins.slice

- null

body_names: Object

body_ids: !!python/object/apply:builtins.slice

- null

object_collection_names: null

object_collection_ids: !!python/object/apply:builtins.slice

- null

preserve_order: false

mode: reset

interval_range_s: null

is_global_time: false

min_step_count_between_reset: 0

rerender_on_reset: false

wait_for_textures: true

is_finite_horizon: false

episode_length_s: 3

rewards:

ball_z_vel:

func: digitop_sim_ext.tasks.manipulation.juggling.mdp.rewards:squared_lin_vel_z

params:

asset_cfg:

joint_names: null

joint_ids: !!python/object/apply:builtins.slice

- null

fixed_tendon_names: null

fixed_tendon_ids: !!python/object/apply:builtins.slice

- null

body_names: null

body_ids: !!python/object/apply:builtins.slice

- null

object_collection_names: null

object_collection_ids: !!python/object/apply:builtins.slice

- null

preserve_order: false

clip_value: 3.5

weight: 0.04

ball_xy_vel:

func: digitop_sim_ext.tasks.manipulation.juggling.mdp.rewards:lin_vel_xy

params:

asset_cfg:

joint_names: null

joint_ids: !!python/object/apply:builtins.slice

- null

fixed_tendon_names: null

fixed_tendon_ids: !!python/object/apply:builtins.slice

- null

body_names: null

body_ids: !!python/object/apply:builtins.slice

- null

object_collection_names: null

object_collection_ids: !!python/object/apply:builtins.slice

- null

preserve_order: false

weight: -0.02

bat_orientation:

func: digitop_sim_ext.tasks.manipulation.juggling.mdp.rewards:ee_rotation_from_horizontal

params:

robot_cfg:

joint_names: null

joint_ids: !!python/object/apply:builtins.slice

- null

fixed_tendon_names: null

fixed_tendon_ids: !!python/object/apply:builtins.slice

- null

body_names: null

body_ids: !!python/object/apply:builtins.slice

- null

object_collection_names: null

object_collection_ids: !!python/object/apply:builtins.slice

- null

preserve_order: false

ee_frame_cfg:

joint_names: null

joint_ids: !!python/object/apply:builtins.slice

- null

fixed_tendon_names: null

fixed_tendon_ids: !!python/object/apply:builtins.slice

- null

body_names: null

body_ids: !!python/object/apply:builtins.slice

- null

object_collection_names: null

object_collection_ids: !!python/object/apply:builtins.slice

- null

preserve_order: false

weight: 0.1

reaching_object:

func: digitop_sim_ext.tasks.manipulation.juggling.mdp.rewards:object_ee_distance_xy

params:

std: 0.1

weight: -1

object_above_ee:

func: digitop_sim_ext.tasks.manipulation.juggling.mdp.rewards:object_is_above_ee

params:

object_cfg:

joint_names: null

joint_ids: !!python/object/apply:builtins.slice

- null

fixed_tendon_names: null

fixed_tendon_ids: !!python/object/apply:builtins.slice

- null

body_names: null

body_ids: !!python/object/apply:builtins.slice

- null

object_collection_names: null

object_collection_ids: !!python/object/apply:builtins.slice

- null

preserve_order: false

ee_frame_cfg:

joint_names: null

joint_ids: !!python/object/apply:builtins.slice

- null

fixed_tendon_names: null

fixed_tendon_ids: !!python/object/apply:builtins.slice

- null

body_names: null

body_ids: !!python/object/apply:builtins.slice

- null

object_collection_names: null

object_collection_ids: !!python/object/apply:builtins.slice

- null

preserve_order: false

weight: 0.1

ee_at_target_height:

func: digitop_sim_ext.tasks.manipulation.juggling.mdp.rewards:ee_at_target_height

params:

robot_cfg:

joint_names: null

joint_ids: !!python/object/apply:builtins.slice

- null

fixed_tendon_names: null

fixed_tendon_ids: !!python/object/apply:builtins.slice

- null

body_names: null

body_ids: !!python/object/apply:builtins.slice

- null

object_collection_names: null

object_collection_ids: !!python/object/apply:builtins.slice

- null

preserve_order: false

ee_frame_cfg:

joint_names: null

joint_ids: !!python/object/apply:builtins.slice

- null

fixed_tendon_names: null

fixed_tendon_ids: !!python/object/apply:builtins.slice

- null

body_names: null

body_ids: !!python/object/apply:builtins.slice

- null

object_collection_names: null

object_collection_ids: !!python/object/apply:builtins.slice

- null

preserve_order: false

weight: -0.1

terminations:

time_out:

func: isaaclab.envs.mdp.terminations:time_out

params: {}

time_out: true

object_dropping:

func: isaaclab.envs.mdp.terminations:root_height_below_minimum

params:

minimum_height: -0.05

asset_cfg:

joint_names: null

joint_ids: !!python/object/apply:builtins.slice

- null

fixed_tendon_names: null

fixed_tendon_ids: !!python/object/apply:builtins.slice

- null

body_names: null

body_ids: !!python/object/apply:builtins.slice

- null

object_collection_names: null

object_collection_ids: !!python/object/apply:builtins.slice

- null

preserve_order: false

time_out: false

curriculum: {}

commands:

object_pose:

class_type: isaaclab.envs.mdp.commands.pose_command:UniformPoseCommand

resampling_time_range: !!python/tuple

- 5.0

debug_vis: true

asset_name: robot

body_name: panda_bat

make_quat_unique: false

ranges:

pos_x: !!python/tuple

- 0.5

- 0.6

pos_y: !!python/tuple

- -0.1

- 0.1

pos_z: !!python/tuple

- 0.25

- 0.5

roll: !!python/tuple

- 0.0

pitch: !!python/tuple

- 0.0

yaw: !!python/tuple

- 0.0

goal_pose_visualizer_cfg:

prim_path: /Visuals/Command/goal_pose

markers:

frame:

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: null

collision_props: null

activate_contact_sensors: false

scale: !!python/tuple

- 0.1

articulation_props: null

fixed_tendons_props: null

joint_drive_props: null

visual_material_path: material

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

variants: null

current_pose_visualizer_cfg:

prim_path: /Visuals/Command/body_pose

markers:

frame:

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: null

collision_props: null

activate_contact_sensors: false

scale: !!python/tuple

- 0.1

articulation_props: null

fixed_tendons_props: null

joint_drive_props: null

visual_material_path: material

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

Saved diffs

Original text

Open file

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: 0.005
  render_interval: 2
  gravity: !!python/tuple
  - 0.0
  - 0.0
  - -9.81
  enable_scene_query_support: true
  use_fabric: true
  disable_contact_processing: false
  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: true
    enable_enhanced_determinism: false
    bounce_threshold_velocity: 0.01
    friction_offset_threshold: 0.04
    friction_correlation_distance: 0.00625
    gpu_max_rigid_contact_count: 8388608
    gpu_max_rigid_patch_count: 163840
    gpu_found_lost_pairs_capacity: 2097152
    gpu_found_lost_aggregate_pairs_capacity: 4194304
    gpu_total_aggregate_pairs_capacity: 16384
    gpu_collision_stack_size: 67108864
    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
  physics_material:
    func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material
    static_friction: 0.5
    dynamic_friction: 0.5
    restitution: 0.0
    improve_patch_friction: true
    friction_combine_mode: average
    restitution_combine_mode: average
    compliant_contact_stiffness: 0.0
    compliant_contact_damping: 0.0
  render:
    enable_translucency: false
    enable_reflections: false
    enable_global_illumination: false
    antialiasing_mode: DLSS
    enable_dlssg: false
    enable_dl_denoiser: false
    dlss_mode: 0
    enable_direct_lighting: true
    samples_per_pixel: 1
    enable_shadows: true
    enable_ambient_occlusion: false
ui_window_class_type: isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow
seed: 42
decimation: 2
scene:
  num_envs: 2048
  env_spacing: 3.5
  lazy_sensor_update: true
  replicate_physics: true
  filter_collisions: true
  robot:
    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: true
        linear_damping: null
        angular_damping: null
        max_linear_velocity: null
        max_angular_velocity: null
        max_depenetration_velocity: 5.0
        max_contact_impulse: null
        enable_gyroscopic_forces: null
        retain_accelerations: null
        solver_position_iteration_count: null
        solver_velocity_iteration_count: null
        sleep_threshold: null
        stabilization_threshold: null
      collision_props: null
      activate_contact_sensors: false
      scale: null
      articulation_props:
        articulation_enabled: null
        enabled_self_collisions: true
        solver_position_iteration_count: 8
        solver_velocity_iteration_count: 0
        sleep_threshold: null
        stabilization_threshold: null
        fix_root_link: null
      fixed_tendons_props: null
      joint_drive_props: null
      visual_material_path: material
      visual_material: null
      usd_path: /digitop_sim/digitop_sim/workpiece/panda_with_bat_v2.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:
        panda_joint1: 0.0
        panda_joint2: 0.4747296
        panda_joint3: 0.0
        panda_joint4: -1.448623
        panda_joint5: 0.0
        panda_joint6: 2.426008
        panda_joint7: 0.7998844
        panda_finger_joint.*: 0.04
      joint_vel:
        .*: 0.0
    collision_group: 0
    debug_vis: false
    soft_joint_pos_limit_factor: 1.0
    actuators:
      panda_shoulder:
        class_type: isaaclab.actuators.actuator_pd:ImplicitActuator
        joint_names_expr:
        - panda_joint[1-4]
        effort_limit: 87.0
        velocity_limit: 2.175
        stiffness: 400.0
        damping: 80.0
        armature: null
        friction: null
      panda_forearm:
        class_type: isaaclab.actuators.actuator_pd:ImplicitActuator
        joint_names_expr:
        - panda_joint[5-7]
        effort_limit: 12.0
        velocity_limit: 2.61
        stiffness: 400.0
        damping: 80.0
        armature: null
        friction: null
      panda_hand:
        class_type: isaaclab.actuators.actuator_pd:ImplicitActuator
        joint_names_expr:
        - panda_finger_joint.*
        effort_limit: 200.0
        velocity_limit: 0.2
        stiffness: 2000.0
        damping: 100.0
        armature: null
        friction: null
  ee_frame:
    class_type: isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer
    prim_path: /World/envs/env_.*/Robot/panda_link0
    update_period: 0.0
    history_length: 0
    debug_vis: false
    source_frame_offset:
      pos: !!python/tuple
      - 0.0
      - 0.0
      - 0.0
      rot: !!python/tuple
      - 1.0
      - 0.0
      - 0.0
      - 0.0
    target_frames:
    - prim_path: /World/envs/env_.*/Robot/panda_bat
      name: end_effector
      offset:
        pos:
        - 0.0
        - 0.0
        - 0
        rot: !!python/tuple
        - 1.0
        - 0.0
        - 0.0
        - 0.0
    visualizer_cfg:
      prim_path: /Visuals/FrameTransformer
      markers:
        frame:
          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: null
          collision_props: null
          activate_contact_sensors: false
          scale: !!python/tuple
          - 0.1
          - 0.1
          - 0.1
          articulation_props: null
          fixed_tendons_props: null
          joint_drive_props: null
          visual_material_path: material
          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
          variants: null
  object:
    class_type: isaaclab.assets.rigid_object.rigid_object:RigidObject
    prim_path: /World/envs/env_.*/Object
    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: null
        angular_damping: null
        max_linear_velocity: 1000.0
        max_angular_velocity: 1000.0
        max_depenetration_velocity: 5.0
        max_contact_impulse: null
        enable_gyroscopic_forces: null
        retain_accelerations: null
        solver_position_iteration_count: 16
        solver_velocity_iteration_count: 1
        sleep_threshold: null
        stabilization_threshold: null
      collision_props: null
      activate_contact_sensors: false
      scale: !!python/tuple
      - 0.05
      - 0.05
      - 0.05
      articulation_props: null
      fixed_tendons_props: null
      joint_drive_props: null
      visual_material_path: material
      visual_material: null
      usd_path: /digitop_sim/digitop_sim/workpiece/bouncing_ball_flattened_red.usd
      variants: null
    init_state:
      pos:
      - 0.88
      - 0
      - 0.6
      rot:
      - 1
      - 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
  table:
    class_type: null
    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: null
      collision_props: null
      activate_contact_sensors: false
      scale: null
      articulation_props: null
      fixed_tendons_props: null
      joint_drive_props: null
      visual_material_path: material
      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
      variants: null
    init_state:
      pos:
      - 0.5
      - 0
      - 0
      rot:
      - 0.707
      - 0
      - 0
      - 0.707
    collision_group: 0
    debug_vis: false
  plane:
    class_type: null
    prim_path: /World/GroundPlane
    spawn:
      func: isaaclab.sim.spawners.from_files.from_files:spawn_ground_plane
      visible: true
      semantic_tags: null
      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
      color: !!python/tuple
      - 0.0
      - 0.0
      - 0.0
      size: !!python/tuple
      - 100.0
      - 100.0
      physics_material:
        func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material
        static_friction: 0.5
        dynamic_friction: 0.5
        restitution: 0.0
        improve_patch_friction: true
        friction_combine_mode: average
        restitution_combine_mode: average
        compliant_contact_stiffness: 0.0
        compliant_contact_damping: 0.0
    init_state:
      pos:
      - 0
      - 0
      - -1.05
      rot: !!python/tuple
      - 1.0
      - 0.0
      - 0.0
      - 0.0
    collision_group: 0
    debug_vis: false
  light:
    class_type: null
    prim_path: /World/light
    spawn:
      func: isaaclab.sim.spawners.lights.lights:spawn_light
      visible: true
      semantic_tags: null
      copy_from_source: true
      prim_type: DomeLight
      color: !!python/tuple
      - 0.75
      - 0.75
      - 0.75
      enable_color_temperature: false
      color_temperature: 6500.0
      normalize: false
      exposure: 0.0
      intensity: 10000.0
      texture_file: null
      texture_format: automatic
      visible_in_primary_ray: true
    init_state:
      pos: !!python/tuple
      - 0.0
      - 0.0
      - 0.0
      rot: !!python/tuple
      - 1.0
      - 0.0
      - 0.0
      - 0.0
    collision_group: 0
    debug_vis: false
recorders:
  dataset_file_handler_class_type: isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler
  dataset_export_dir_path: /tmp/isaaclab/logs
  dataset_filename: dataset
  dataset_export_mode:
    _value_: 1
    _name_: EXPORT_ALL
  export_in_record_pre_reset: true
observations:
  policy:
    concatenate_terms: true
    enable_corruption: true
    history_length: null
    flatten_history_dim: true
    ee_pose:
      func: digitop_sim_ext.tasks.manipulation.juggling.mdp.observations:robot_ee_pose_in_root_frame
      params:
        robot_cfg:
          name: robot
          joint_names: null
          joint_ids: !!python/object/apply:builtins.slice
          - null
          - null
          - null
          fixed_tendon_names: null
          fixed_tendon_ids: !!python/object/apply:builtins.slice
          - null
          - null
          - null
          body_names: null
          body_ids: !!python/object/apply:builtins.slice
          - null
          - null
          - null
          object_collection_names: null
          object_collection_ids: !!python/object/apply:builtins.slice
          - null
          - null
          - null
          preserve_order: false
        ee_frame_cfg:
          name: ee_frame
          joint_names: null
          joint_ids: !!python/object/apply:builtins.slice
          - null
          - null
          - null
          fixed_tendon_names: null
          fixed_tendon_ids: !!python/object/apply:builtins.slice
          - null
          - null
          - null
          body_names: null
          body_ids: !!python/object/apply:builtins.slice
          - null
          - null
          - null
          object_collection_names: null
          object_collection_ids: !!python/object/apply:builtins.slice
          - null
          - null
          - null
          preserve_order: false
      modifiers: null
      noise: null
      clip: null
      scale: null
      history_length: 0
      flatten_history_dim: true
    joint_pos:
      func: isaaclab.envs.mdp.observations:joint_pos_rel
      params: {}
      modifiers: null
      noise: null
      clip: null
      scale: null
      history_length: 0
      flatten_history_dim: true
    joint_vel:
      func: isaaclab.envs.mdp.observations:joint_vel_rel
      params: {}
      modifiers: null
      noise: null
      clip: null
      scale: null
      history_length: 0
      flatten_history_dim: true
    object_pose:
      func: digitop_sim_ext.tasks.manipulation.juggling.mdp.observations:object_position_in_robot_root_frame
      params: {}
      modifiers: null
      noise: null
      clip: null
      scale: null
      history_length: 0
      flatten_history_dim: true
    object_lin_vel:
      func: digitop_sim_ext.tasks.manipulation.juggling.mdp.observations:object_lin_vel_in_robot_root_frame
      params: {}
      modifiers: null
      noise: null
      clip: null
      scale: null
      history_length: 0
      flatten_history_dim: true
    actions:
      func: isaaclab.envs.mdp.observations:last_action
      params: {}
      modifiers: null
      noise: null
      clip: null
      scale: null
      history_length: 0
      flatten_history_dim: true
actions:
  arm_action:
    class_type: isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction
    asset_name: robot
    debug_vis: false
    clip: null
    joint_names:
    - panda_joint.*
    body_name: panda_bat
    body_offset:
      pos:
      - 0.0
      - 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:
  reset_all:
    func: digitop_sim_ext.tasks.manipulation.juggling.mdp.events:reset_scene_to_default
    params: {}
    mode: reset
    interval_range_s: null
    is_global_time: false
    min_step_count_between_reset: 0
  reset_object_position:
    func: digitop_sim_ext.tasks.manipulation.juggling.mdp.events:reset_root_state_uniform
    params:
      pose_range:
        x: !!python/tuple
        - -0.1
        - 0.1
        y: !!python/tuple
        - -0.25
        - 0.25
        z: !!python/tuple
        - 0.0
        - 0.0
      velocity_range: {}
      asset_cfg:
        name: object
        joint_names: null
        joint_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        fixed_tendon_names: null
        fixed_tendon_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        body_names: Object
        body_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        object_collection_names: null
        object_collection_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        preserve_order: false
    mode: reset
    interval_range_s: null
    is_global_time: false
    min_step_count_between_reset: 0
rerender_on_reset: false
wait_for_textures: true
is_finite_horizon: false
episode_length_s: 3
rewards:
  ball_z_vel:
    func: digitop_sim_ext.tasks.manipulation.juggling.mdp.rewards:squared_lin_vel_z
    params:
      asset_cfg:
        name: object
        joint_names: null
        joint_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        fixed_tendon_names: null
        fixed_tendon_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        body_names: null
        body_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        object_collection_names: null
        object_collection_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        preserve_order: false
      clip_value: 3.5
    weight: 0.04
  ball_xy_vel:
    func: digitop_sim_ext.tasks.manipulation.juggling.mdp.rewards:lin_vel_xy
    params:
      asset_cfg:
        name: object
        joint_names: null
        joint_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        fixed_tendon_names: null
        fixed_tendon_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        body_names: null
        body_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        object_collection_names: null
        object_collection_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        preserve_order: false
    weight: -0.02
  bat_orientation:
    func: digitop_sim_ext.tasks.manipulation.juggling.mdp.rewards:ee_rotation_from_horizontal
    params:
      robot_cfg:
        name: robot
        joint_names: null
        joint_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        fixed_tendon_names: null
        fixed_tendon_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        body_names: null
        body_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        object_collection_names: null
        object_collection_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        preserve_order: false
      ee_frame_cfg:
        name: ee_frame
        joint_names: null
        joint_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        fixed_tendon_names: null
        fixed_tendon_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        body_names: null
        body_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        object_collection_names: null
        object_collection_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        preserve_order: false
    weight: 0.1
  reaching_object:
    func: digitop_sim_ext.tasks.manipulation.juggling.mdp.rewards:object_ee_distance_xy
    params:
      std: 0.1
    weight: -1
  object_above_ee:
    func: digitop_sim_ext.tasks.manipulation.juggling.mdp.rewards:object_is_above_ee
    params:
      object_cfg:
        name: object
        joint_names: null
        joint_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        fixed_tendon_names: null
        fixed_tendon_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        body_names: null
        body_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        object_collection_names: null
        object_collection_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        preserve_order: false
      ee_frame_cfg:
        name: ee_frame
        joint_names: null
        joint_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        fixed_tendon_names: null
        fixed_tendon_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        body_names: null
        body_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        object_collection_names: null
        object_collection_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        preserve_order: false
    weight: 0.1
  ee_at_target_height:
    func: digitop_sim_ext.tasks.manipulation.juggling.mdp.rewards:ee_at_target_height
    params:
      robot_cfg:
        name: robot
        joint_names: null
        joint_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        fixed_tendon_names: null
        fixed_tendon_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        body_names: null
        body_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        object_collection_names: null
        object_collection_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        preserve_order: false
      ee_frame_cfg:
        name: ee_frame
        joint_names: null
        joint_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        fixed_tendon_names: null
        fixed_tendon_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        body_names: null
        body_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        object_collection_names: null
        object_collection_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        preserve_order: false
    weight: -0.1
terminations:
  time_out:
    func: isaaclab.envs.mdp.terminations:time_out
    params: {}
    time_out: true
  object_dropping:
    func: isaaclab.envs.mdp.terminations:root_height_below_minimum
    params:
      minimum_height: -0.05
      asset_cfg:
        name: object
        joint_names: null
        joint_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        fixed_tendon_names: null
        fixed_tendon_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        body_names: null
        body_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        object_collection_names: null
        object_collection_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        preserve_order: false
    time_out: false
curriculum: {}
commands:
  object_pose:
    class_type: isaaclab.envs.mdp.commands.pose_command:UniformPoseCommand
    resampling_time_range: !!python/tuple
    - 5.0
    - 5.0
    debug_vis: true
    asset_name: robot
    body_name: panda_bat
    make_quat_unique: false
    ranges:
      pos_x: !!python/tuple
      - 0.5
      - 0.6
      pos_y: !!python/tuple
      - -0.1
      - 0.1
      pos_z: !!python/tuple
      - 0.25
      - 0.5
      roll: !!python/tuple
      - 0.0
      - 0.0
      pitch: !!python/tuple
      - 0.0
      - 0.0
      yaw: !!python/tuple
      - 0.0
      - 0.0
    goal_pose_visualizer_cfg:
      prim_path: /Visuals/Command/goal_pose
      markers:
        frame:
          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: null
          collision_props: null
          activate_contact_sensors: false
          scale: !!python/tuple
          - 0.1
          - 0.1
          - 0.1
          articulation_props: null
          fixed_tendons_props: null
          joint_drive_props: null
          visual_material_path: material
          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
          variants: null
    current_pose_visualizer_cfg:
      prim_path: /Visuals/Command/body_pose
      markers:
        frame:
          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: null
          collision_props: null
          activate_contact_sensors: false
          scale: !!python/tuple
          - 0.1
          - 0.1
          - 0.1
          articulation_props: null
          fixed_tendons_props: null
          joint_drive_props: null
          visual_material_path: material
          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
          variants: null

Changed text

Open file

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: 0.005
  render_interval: 2
  gravity: !!python/tuple
  - 0.0
  - 0.0
  - -9.81
  enable_scene_query_support: true
  use_fabric: true
  disable_contact_processing: false
  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: true
    enable_enhanced_determinism: false
    bounce_threshold_velocity: 0.01
    friction_offset_threshold: 0.04
    friction_correlation_distance: 0.00625
    gpu_max_rigid_contact_count: 8388608
    gpu_max_rigid_patch_count: 163840
    gpu_found_lost_pairs_capacity: 2097152
    gpu_found_lost_aggregate_pairs_capacity: 4194304
    gpu_total_aggregate_pairs_capacity: 16384
    gpu_collision_stack_size: 67108864
    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
  physics_material:
    func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material
    static_friction: 0.5
    dynamic_friction: 0.5
    restitution: 0.0
    improve_patch_friction: true
    friction_combine_mode: average
    restitution_combine_mode: average
    compliant_contact_stiffness: 0.0
    compliant_contact_damping: 0.0
  render:
    enable_translucency: false
    enable_reflections: false
    enable_global_illumination: false
    antialiasing_mode: DLSS
    enable_dlssg: false
    enable_dl_denoiser: false
    dlss_mode: 0
    enable_direct_lighting: true
    samples_per_pixel: 1
    enable_shadows: true
    enable_ambient_occlusion: false
ui_window_class_type: isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow
seed: 42
decimation: 2
scene:
  num_envs: 2048
  env_spacing: 3.5
  lazy_sensor_update: true
  replicate_physics: true
  filter_collisions: true
  robot:
    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: null
        angular_damping: null
        max_linear_velocity: null
        max_angular_velocity: null
        max_depenetration_velocity: 5.0
        max_contact_impulse: null
        enable_gyroscopic_forces: null
        retain_accelerations: null
        solver_position_iteration_count: null
        solver_velocity_iteration_count: null
        sleep_threshold: null
        stabilization_threshold: null
      collision_props: null
      activate_contact_sensors: false
      scale: null
      articulation_props:
        articulation_enabled: null
        enabled_self_collisions: true
        solver_position_iteration_count: 8
        solver_velocity_iteration_count: 0
        sleep_threshold: null
        stabilization_threshold: null
        fix_root_link: null
      fixed_tendons_props: null
      joint_drive_props: null
      visual_material_path: material
      visual_material: null
      usd_path: /digitop_sim/digitop_sim/workpiece/panda_with_bat_v2.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:
        panda_joint1: 0.0
        panda_joint2: 0.4747296
        panda_joint3: 0.0
        panda_joint4: -1.448623
        panda_joint5: 0.0
        panda_joint6: 2.426008
        panda_joint7: 0.7998844
        panda_finger_joint.*: 0.04
      joint_vel:
        .*: 0.0
    collision_group: 0
    debug_vis: false
    soft_joint_pos_limit_factor: 1.0
    actuators:
      panda_shoulder:
        class_type: isaaclab.actuators.actuator_pd:ImplicitActuator
        joint_names_expr:
        - panda_joint[1-4]
        effort_limit: 87.0
        velocity_limit: 2.175
        stiffness: 80.0
        damping: 4.0
        armature: null
        friction: null
      panda_forearm:
        class_type: isaaclab.actuators.actuator_pd:ImplicitActuator
        joint_names_expr:
        - panda_joint[5-7]
        effort_limit: 12.0
        velocity_limit: 2.61
        stiffness: 80.0
        damping: 4.0
        armature: null
        friction: null
      panda_hand:
        class_type: isaaclab.actuators.actuator_pd:ImplicitActuator
        joint_names_expr:
        - panda_finger_joint.*
        effort_limit: 200.0
        velocity_limit: 0.2
        stiffness: 2000.0
        damping: 100.0
        armature: null
        friction: null
  ee_frame:
    class_type: isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer
    prim_path: /World/envs/env_.*/Robot/panda_link0
    update_period: 0.0
    history_length: 0
    debug_vis: false
    source_frame_offset:
      pos: !!python/tuple
      - 0.0
      - 0.0
      - 0.0
      rot: !!python/tuple
      - 1.0
      - 0.0
      - 0.0
      - 0.0
    target_frames:
    - prim_path: /World/envs/env_.*/Robot/panda_bat
      name: end_effector
      offset:
        pos:
        - 0.0
        - 0.0
        - 0
        rot: !!python/tuple
        - 1.0
        - 0.0
        - 0.0
        - 0.0
    visualizer_cfg:
      prim_path: /Visuals/FrameTransformer
      markers:
        frame:
          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: null
          collision_props: null
          activate_contact_sensors: false
          scale: !!python/tuple
          - 0.1
          - 0.1
          - 0.1
          articulation_props: null
          fixed_tendons_props: null
          joint_drive_props: null
          visual_material_path: material
          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
          variants: null
  object:
    class_type: isaaclab.assets.rigid_object.rigid_object:RigidObject
    prim_path: /World/envs/env_.*/Object
    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: null
        angular_damping: null
        max_linear_velocity: 1000.0
        max_angular_velocity: 1000.0
        max_depenetration_velocity: 5.0
        max_contact_impulse: null
        enable_gyroscopic_forces: null
        retain_accelerations: null
        solver_position_iteration_count: 16
        solver_velocity_iteration_count: 1
        sleep_threshold: null
        stabilization_threshold: null
      collision_props: null
      activate_contact_sensors: false
      scale: !!python/tuple
      - 0.05
      - 0.05
      - 0.05
      articulation_props: null
      fixed_tendons_props: null
      joint_drive_props: null
      visual_material_path: material
      visual_material: null
      usd_path: /digitop_sim/digitop_sim/workpiece/bouncing_ball_flattened_red.usd
      variants: null
    init_state:
      pos:
      - 0.88
      - 0
      - 0.6
      rot:
      - 1
      - 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
  table:
    class_type: null
    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: null
      collision_props: null
      activate_contact_sensors: false
      scale: null
      articulation_props: null
      fixed_tendons_props: null
      joint_drive_props: null
      visual_material_path: material
      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
      variants: null
    init_state:
      pos:
      - 0.5
      - 0
      - 0
      rot:
      - 0.707
      - 0
      - 0
      - 0.707
    collision_group: 0
    debug_vis: false
  plane:
    class_type: null
    prim_path: /World/GroundPlane
    spawn:
      func: isaaclab.sim.spawners.from_files.from_files:spawn_ground_plane
      visible: true
      semantic_tags: null
      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
      color: !!python/tuple
      - 0.0
      - 0.0
      - 0.0
      size: !!python/tuple
      - 100.0
      - 100.0
      physics_material:
        func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material
        static_friction: 0.5
        dynamic_friction: 0.5
        restitution: 0.0
        improve_patch_friction: true
        friction_combine_mode: average
        restitution_combine_mode: average
        compliant_contact_stiffness: 0.0
        compliant_contact_damping: 0.0
    init_state:
      pos:
      - 0
      - 0
      - -1.05
      rot: !!python/tuple
      - 1.0
      - 0.0
      - 0.0
      - 0.0
    collision_group: 0
    debug_vis: false
  light:
    class_type: null
    prim_path: /World/light
    spawn:
      func: isaaclab.sim.spawners.lights.lights:spawn_light
      visible: true
      semantic_tags: null
      copy_from_source: true
      prim_type: DomeLight
      color: !!python/tuple
      - 0.75
      - 0.75
      - 0.75
      enable_color_temperature: false
      color_temperature: 6500.0
      normalize: false
      exposure: 0.0
      intensity: 10000.0
      texture_file: null
      texture_format: automatic
      visible_in_primary_ray: true
    init_state:
      pos: !!python/tuple
      - 0.0
      - 0.0
      - 0.0
      rot: !!python/tuple
      - 1.0
      - 0.0
      - 0.0
      - 0.0
    collision_group: 0
    debug_vis: false
recorders:
  dataset_file_handler_class_type: isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler
  dataset_export_dir_path: /tmp/isaaclab/logs
  dataset_filename: dataset
  dataset_export_mode:
    _value_: 1
    _name_: EXPORT_ALL
  export_in_record_pre_reset: true
observations:
  policy:
    concatenate_terms: true
    enable_corruption: true
    history_length: null
    flatten_history_dim: true
    ee_pose:
      func: digitop_sim_ext.tasks.manipulation.juggling.mdp.observations:robot_ee_pose_in_root_frame
      params:
        robot_cfg:
          name: robot
          joint_names: null
          joint_ids: !!python/object/apply:builtins.slice
          - null
          - null
          - null
          fixed_tendon_names: null
          fixed_tendon_ids: !!python/object/apply:builtins.slice
          - null
          - null
          - null
          body_names: null
          body_ids: !!python/object/apply:builtins.slice
          - null
          - null
          - null
          object_collection_names: null
          object_collection_ids: !!python/object/apply:builtins.slice
          - null
          - null
          - null
          preserve_order: false
        ee_frame_cfg:
          name: ee_frame
          joint_names: null
          joint_ids: !!python/object/apply:builtins.slice
          - null
          - null
          - null
          fixed_tendon_names: null
          fixed_tendon_ids: !!python/object/apply:builtins.slice
          - null
          - null
          - null
          body_names: null
          body_ids: !!python/object/apply:builtins.slice
          - null
          - null
          - null
          object_collection_names: null
          object_collection_ids: !!python/object/apply:builtins.slice
          - null
          - null
          - null
          preserve_order: false
      modifiers: null
      noise: null
      clip: null
      scale: null
      history_length: 0
      flatten_history_dim: true
    joint_pos:
      func: isaaclab.envs.mdp.observations:joint_pos_rel
      params: {}
      modifiers: null
      noise: null
      clip: null
      scale: null
      history_length: 0
      flatten_history_dim: true
    joint_vel:
      func: isaaclab.envs.mdp.observations:joint_vel_rel
      params: {}
      modifiers: null
      noise: null
      clip: null
      scale: null
      history_length: 0
      flatten_history_dim: true
    object_pose:
      func: digitop_sim_ext.tasks.manipulation.juggling.mdp.observations:object_position_in_robot_root_frame
      params: {}
      modifiers: null
      noise: null
      clip: null
      scale: null
      history_length: 0
      flatten_history_dim: true
    object_lin_vel:
      func: digitop_sim_ext.tasks.manipulation.juggling.mdp.observations:object_lin_vel_in_robot_root_frame
      params: {}
      modifiers: null
      noise: null
      clip: null
      scale: null
      history_length: 0
      flatten_history_dim: true
    actions:
      func: isaaclab.envs.mdp.observations:last_action
      params: {}
      modifiers: null
      noise: null
      clip: null
      scale: null
      history_length: 0
      flatten_history_dim: true
actions:
  arm_action:
    class_type: isaaclab.envs.mdp.actions.joint_actions:JointPositionAction
    asset_name: robot
    debug_vis: false
    clip: null
    joint_names:
    - panda_joint.*
    scale: 0.25
    offset: 0.0
    preserve_order: false
    use_default_offset: true
events:
  reset_all:
    func: digitop_sim_ext.tasks.manipulation.juggling.mdp.events:reset_scene_to_default
    params: {}
    mode: reset
    interval_range_s: null
    is_global_time: false
    min_step_count_between_reset: 0
  reset_object_position:
    func: digitop_sim_ext.tasks.manipulation.juggling.mdp.events:reset_root_state_uniform
    params:
      pose_range:
        x: !!python/tuple
        - -0.1
        - 0.1
        y: !!python/tuple
        - -0.25
        - 0.25
        z: !!python/tuple
        - 0.0
        - 0.0
      velocity_range: {}
      asset_cfg:
        name: object
        joint_names: null
        joint_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        fixed_tendon_names: null
        fixed_tendon_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        body_names: Object
        body_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        object_collection_names: null
        object_collection_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        preserve_order: false
    mode: reset
    interval_range_s: null
    is_global_time: false
    min_step_count_between_reset: 0
rerender_on_reset: false
wait_for_textures: true
is_finite_horizon: false
episode_length_s: 3
rewards:
  ball_z_vel:
    func: digitop_sim_ext.tasks.manipulation.juggling.mdp.rewards:squared_lin_vel_z
    params:
      asset_cfg:
        name: object
        joint_names: null
        joint_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        fixed_tendon_names: null
        fixed_tendon_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        body_names: null
        body_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        object_collection_names: null
        object_collection_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        preserve_order: false
      clip_value: 3.5
    weight: 0.04
  ball_xy_vel:
    func: digitop_sim_ext.tasks.manipulation.juggling.mdp.rewards:lin_vel_xy
    params:
      asset_cfg:
        name: object
        joint_names: null
        joint_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        fixed_tendon_names: null
        fixed_tendon_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        body_names: null
        body_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        object_collection_names: null
        object_collection_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        preserve_order: false
    weight: -0.02
  bat_orientation:
    func: digitop_sim_ext.tasks.manipulation.juggling.mdp.rewards:ee_rotation_from_horizontal
    params:
      robot_cfg:
        name: robot
        joint_names: null
        joint_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        fixed_tendon_names: null
        fixed_tendon_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        body_names: null
        body_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        object_collection_names: null
        object_collection_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        preserve_order: false
      ee_frame_cfg:
        name: ee_frame
        joint_names: null
        joint_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        fixed_tendon_names: null
        fixed_tendon_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        body_names: null
        body_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        object_collection_names: null
        object_collection_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        preserve_order: false
    weight: 0.1
  reaching_object:
    func: digitop_sim_ext.tasks.manipulation.juggling.mdp.rewards:object_ee_distance_xy
    params:
      std: 0.1
    weight: -1
  object_above_ee:
    func: digitop_sim_ext.tasks.manipulation.juggling.mdp.rewards:object_is_above_ee
    params:
      object_cfg:
        name: object
        joint_names: null
        joint_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        fixed_tendon_names: null
        fixed_tendon_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        body_names: null
        body_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        object_collection_names: null
        object_collection_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        preserve_order: false
      ee_frame_cfg:
        name: ee_frame
        joint_names: null
        joint_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        fixed_tendon_names: null
        fixed_tendon_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        body_names: null
        body_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        object_collection_names: null
        object_collection_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        preserve_order: false
    weight: 0.1
  ee_at_target_height:
    func: digitop_sim_ext.tasks.manipulation.juggling.mdp.rewards:ee_at_target_height
    params:
      robot_cfg:
        name: robot
        joint_names: null
        joint_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        fixed_tendon_names: null
        fixed_tendon_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        body_names: null
        body_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        object_collection_names: null
        object_collection_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        preserve_order: false
      ee_frame_cfg:
        name: ee_frame
        joint_names: null
        joint_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        fixed_tendon_names: null
        fixed_tendon_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        body_names: null
        body_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        object_collection_names: null
        object_collection_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        preserve_order: false
    weight: -0.1
terminations:
  time_out:
    func: isaaclab.envs.mdp.terminations:time_out
    params: {}
    time_out: true
  object_dropping:
    func: isaaclab.envs.mdp.terminations:root_height_below_minimum
    params:
      minimum_height: -0.05
      asset_cfg:
        name: object
        joint_names: null
        joint_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        fixed_tendon_names: null
        fixed_tendon_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        body_names: null
        body_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        object_collection_names: null
        object_collection_ids: !!python/object/apply:builtins.slice
        - null
        - null
        - null
        preserve_order: false
    time_out: false
curriculum: {}
commands:
  object_pose:
    class_type: isaaclab.envs.mdp.commands.pose_command:UniformPoseCommand
    resampling_time_range: !!python/tuple
    - 5.0
    - 5.0
    debug_vis: true
    asset_name: robot
    body_name: panda_bat
    make_quat_unique: false
    ranges:
      pos_x: !!python/tuple
      - 0.5
      - 0.6
      pos_y: !!python/tuple
      - -0.1
      - 0.1
      pos_z: !!python/tuple
      - 0.25
      - 0.5
      roll: !!python/tuple
      - 0.0
      - 0.0
      pitch: !!python/tuple
      - 0.0
      - 0.0
      yaw: !!python/tuple
      - 0.0
      - 0.0
    goal_pose_visualizer_cfg:
      prim_path: /Visuals/Command/goal_pose
      markers:
        frame:
          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: null
          collision_props: null
          activate_contact_sensors: false
          scale: !!python/tuple
          - 0.1
          - 0.1
          - 0.1
          articulation_props: null
          fixed_tendons_props: null
          joint_drive_props: null
          visual_material_path: material
          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
          variants: null
    current_pose_visualizer_cfg:
      prim_path: /Visuals/Command/body_pose
      markers:
        frame:
          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: null
          collision_props: null
          activate_contact_sensors: false
          scale: !!python/tuple
          - 0.1
          - 0.1
          - 0.1
          articulation_props: null
          fixed_tendons_props: null
          joint_drive_props: null
          visual_material_path: material
          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
          variants: null