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1220 1221 1222 1223 1224 | decimation: 4
scene:
num_envs: 4096
env_spacing: 1.0
terrain:
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:
.*: 0.0
joint_vel:
.*: 0.0
spec_fn: !!python/name:mjlab.entity.entity.%3Clambda%3E ''
articulation: null
sort_actuators: false
lights: !!python/tuple
- name: sun
body: world
mode: fixed
target: null
type: directional
castshadow: true
pos: !!python/tuple
- 0.0
- 0.0
- 1.5
dir: !!python/tuple
- 0.0
- 0.0
- -1.0
cutoff: 45.0
exponent: 10.0
cameras: !!python/tuple []
textures: !!python/tuple
- name: groundplane
type: 2d
builtin: checker
rgb1: !!python/tuple
- 0.2
- 0.3
- 0.4
rgb2: !!python/tuple
- 0.1
- 0.2
- 0.3
width: 300
height: 300
mark: edge
markrgb: !!python/tuple
- 0.8
- 0.8
- 0.8
materials: !!python/tuple
- name: groundplane
rgba: !!python/tuple
- 1.0
- 1.0
- 1.0
- 1.0
texuniform: true
texrepeat: !!python/tuple
- 4.0
- 4.0
reflectance: 0.2
texture: groundplane
geom_names_expr: !!python/tuple
- terrain$
collisions: !!python/tuple []
terrain_type: plane
terrain_generator: null
env_spacing: 1.0
max_init_terrain_level: null
num_envs: 4096
entities:
robot:
init_state:
pos: !!python/tuple
- 0.0
- 0.0
- 0.01
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:
joint2: 1.047
joint3: 1.05
joint4: -0.9
left_finger: 0.01875
right_finger: -0.01875
joint_vel:
.*: 0.0
spec_fn: !!python/name:mjlab.asset_zoo.robots.i2rt_yam.yam_constants.get_spec ''
articulation:
actuators: !!python/tuple
- target_names_expr: !!python/tuple
- joint1
transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType
- joint
armature: 0.032
frictionloss: null
viscous_damping: null
delay_min_lag: 0
delay_max_lag: 0
delay_hold_prob: 0.0
delay_update_period: 0
delay_per_env_phase: true
stiffness: 19.447542251806023
damping: 6.190344960903768
effort_limit: 28.0
- target_names_expr: !!python/tuple
- joint2
transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType
- joint
armature: 0.032
frictionloss: null
viscous_damping: null
delay_min_lag: 0
delay_max_lag: 0
delay_hold_prob: 0.0
delay_update_period: 0
delay_per_env_phase: true
stiffness: 43.80698922166542
damping: 13.944197753601417
effort_limit: 28.0
- target_names_expr: !!python/tuple
- joint3
transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType
- joint
armature: 0.032
frictionloss: null
viscous_damping: null
delay_min_lag: 0
delay_max_lag: 0
delay_hold_prob: 0.0
delay_update_period: 0
delay_per_env_phase: true
stiffness: 36.756459665271045
damping: 11.699944492905928
effort_limit: 28.0
- target_names_expr: !!python/tuple
- joint4
transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType
- joint
armature: 0.0018
frictionloss: null
viscous_damping: null
delay_min_lag: 0
delay_max_lag: 0
delay_hold_prob: 0.0
delay_update_period: 0
delay_per_env_phase: true
stiffness: 4.761728817494976
damping: 1.515705357978224
effort_limit: 10.0
- target_names_expr: !!python/tuple
- joint5
transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType
- joint
armature: 0.0018
frictionloss: null
viscous_damping: null
delay_min_lag: 0
delay_max_lag: 0
delay_hold_prob: 0.0
delay_update_period: 0
delay_per_env_phase: true
stiffness: 1.4411201561470834
damping: 0.458722792893456
effort_limit: 10.0
- target_names_expr: !!python/tuple
- joint6
transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType
- joint
armature: 0.0018
frictionloss: null
viscous_damping: null
delay_min_lag: 0
delay_max_lag: 0
delay_hold_prob: 0.0
delay_update_period: 0
delay_per_env_phase: true
stiffness: 0.45289640673129905
damping: 0.144161403683808
effort_limit: 10.0
- target_names_expr: !!python/tuple
- left_finger
transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType
- joint
armature: 2.603054949414799
frictionloss: null
viscous_damping: null
delay_min_lag: 0
delay_max_lag: 0
delay_hold_prob: 0.0
delay_update_period: 0
delay_per_env_phase: true
stiffness: 109.81411388402572
damping: 69.90983618559427
effort_limit: 38.02816901408451
soft_joint_pos_limit_factor: 0.9
sort_actuators: false
lights: !!python/tuple []
cameras: !!python/tuple []
textures: !!python/tuple []
materials: !!python/tuple []
collisions: !!python/tuple
- geom_names_expr: !!python/tuple
- .*_collision
contype:
(link6|[lr]f)_.*_collision: 1
.*_collision: 0
conaffinity:
(link6|[lr]f)_.*_collision: 1
.*_collision: 0
condim:
'[lr]f_down(6|7|8|9|10|11)_collision': 6
.*_collision: 3
priority:
'[lr]f_down(6|7|8|9|10|11)_collision': 1
friction:
'[lr]f_down(6|7|8|9|10|11)_collision': !!python/tuple
- 1
- 0.005
- 0.0005
.*_collision: !!python/tuple
- 0.6
solref:
'[lr]f_down(6|7|8|9|10|11)_collision': !!python/tuple
- 0.01
- 1
solimp: null
margin: null
gap: null
solmix: null
disable_other_geoms: true
cube:
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:
.*: 0.0
joint_vel:
.*: 0.0
spec_fn: !!python/name:mjlab.tasks.manipulation.config.yam.env_cfgs.get_cube_spec ''
articulation: null
sort_actuators: false
lights: !!python/tuple []
cameras: !!python/tuple []
textures: !!python/tuple []
materials: !!python/tuple []
collisions: !!python/tuple []
sensors: !!python/tuple
- name: ee_ground_collision
primary:
mode: subtree
pattern: link_6
entity: robot
exclude: !!python/tuple []
secondary:
mode: body
pattern: terrain
entity: null
exclude: !!python/tuple []
fields: !!python/tuple
- found
- force
reduce: none
num_slots: 1
secondary_policy: first
track_air_time: false
global_frame: false
history_length: 4
debug: false
extent: null
spec_fn: null
observations:
actor:
terms:
joint_pos:
func: &id001 !!python/name:mjlab.envs.mdp.observations.joint_pos_rel ''
params: {}
noise:
operation: add
_tensor_cache: {}
n_min: -0.01
n_max: 0.01
clip: null
scale: null
delay_min_lag: 0
delay_max_lag: 0
delay_per_env: true
delay_hold_prob: 0.0
delay_update_period: 0
delay_per_env_phase: true
history_length: 0
flatten_history_dim: true
joint_vel:
func: &id002 !!python/name:mjlab.envs.mdp.observations.joint_vel_rel ''
params: {}
noise:
operation: add
_tensor_cache: {}
n_min: -1.5
n_max: 1.5
clip: null
scale: null
delay_min_lag: 0
delay_max_lag: 0
delay_per_env: true
delay_hold_prob: 0.0
delay_update_period: 0
delay_per_env_phase: true
history_length: 0
flatten_history_dim: true
ee_to_cube:
func: &id003 !!python/name:mjlab.tasks.manipulation.mdp.observations.ee_to_object_distance ''
params:
object_name: cube
asset_cfg:
name: robot
joint_names: null
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
body_names: null
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
geom_names: null
geom_ids: !!python/object/apply:builtins.slice
- null
- null
- null
site_names: !!python/tuple
- grasp_site
site_ids: !!python/object/apply:builtins.slice
- null
- null
- null
actuator_names: null
actuator_ids: !!python/object/apply:builtins.slice
- null
- null
- null
tendon_names: null
tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
camera_names: null
camera_ids: !!python/object/apply:builtins.slice
- null
- null
- null
light_names: null
light_ids: !!python/object/apply:builtins.slice
- null
- null
- null
material_names: null
material_ids: !!python/object/apply:builtins.slice
- null
- null
- null
pair_names: null
pair_ids: !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: false
noise:
operation: add
_tensor_cache: {}
n_min: -0.01
n_max: 0.01
clip: null
scale: null
delay_min_lag: 0
delay_max_lag: 0
delay_per_env: true
delay_hold_prob: 0.0
delay_update_period: 0
delay_per_env_phase: true
history_length: 0
flatten_history_dim: true
cube_to_goal:
func: &id004 !!python/name:mjlab.tasks.manipulation.mdp.observations.object_to_goal_distance ''
params:
object_name: cube
command_name: lift_height
noise:
operation: add
_tensor_cache: {}
n_min: -0.01
n_max: 0.01
clip: null
scale: null
delay_min_lag: 0
delay_max_lag: 0
delay_per_env: true
delay_hold_prob: 0.0
delay_update_period: 0
delay_per_env_phase: true
history_length: 0
flatten_history_dim: true
actions:
func: &id005 !!python/name:mjlab.envs.mdp.observations.last_action ''
params: {}
noise: null
clip: null
scale: null
delay_min_lag: 0
delay_max_lag: 0
delay_per_env: true
delay_hold_prob: 0.0
delay_update_period: 0
delay_per_env_phase: true
history_length: 0
flatten_history_dim: true
concatenate_terms: true
concatenate_dim: -1
enable_corruption: true
history_length: null
flatten_history_dim: true
nan_policy: disabled
nan_check_per_term: true
critic:
terms:
joint_pos:
func: *id001
params: {}
noise:
operation: add
_tensor_cache: {}
n_min: -0.01
n_max: 0.01
clip: null
scale: null
delay_min_lag: 0
delay_max_lag: 0
delay_per_env: true
delay_hold_prob: 0.0
delay_update_period: 0
delay_per_env_phase: true
history_length: 0
flatten_history_dim: true
joint_vel:
func: *id002
params: {}
noise:
operation: add
_tensor_cache: {}
n_min: -1.5
n_max: 1.5
clip: null
scale: null
delay_min_lag: 0
delay_max_lag: 0
delay_per_env: true
delay_hold_prob: 0.0
delay_update_period: 0
delay_per_env_phase: true
history_length: 0
flatten_history_dim: true
ee_to_cube:
func: *id003
params:
object_name: cube
asset_cfg:
name: robot
joint_names: null
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
body_names: null
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
geom_names: null
geom_ids: !!python/object/apply:builtins.slice
- null
- null
- null
site_names: !!python/tuple
- grasp_site
site_ids: !!python/object/apply:builtins.slice
- null
- null
- null
actuator_names: null
actuator_ids: !!python/object/apply:builtins.slice
- null
- null
- null
tendon_names: null
tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
camera_names: null
camera_ids: !!python/object/apply:builtins.slice
- null
- null
- null
light_names: null
light_ids: !!python/object/apply:builtins.slice
- null
- null
- null
material_names: null
material_ids: !!python/object/apply:builtins.slice
- null
- null
- null
pair_names: null
pair_ids: !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: false
noise:
operation: add
_tensor_cache: {}
n_min: -0.01
n_max: 0.01
clip: null
scale: null
delay_min_lag: 0
delay_max_lag: 0
delay_per_env: true
delay_hold_prob: 0.0
delay_update_period: 0
delay_per_env_phase: true
history_length: 0
flatten_history_dim: true
cube_to_goal:
func: *id004
params:
object_name: cube
command_name: lift_height
noise:
operation: add
_tensor_cache: {}
n_min: -0.01
n_max: 0.01
clip: null
scale: null
delay_min_lag: 0
delay_max_lag: 0
delay_per_env: true
delay_hold_prob: 0.0
delay_update_period: 0
delay_per_env_phase: true
history_length: 0
flatten_history_dim: true
actions:
func: *id005
params: {}
noise: null
clip: null
scale: null
delay_min_lag: 0
delay_max_lag: 0
delay_per_env: true
delay_hold_prob: 0.0
delay_update_period: 0
delay_per_env_phase: true
history_length: 0
flatten_history_dim: true
concatenate_terms: true
concatenate_dim: -1
enable_corruption: false
history_length: null
flatten_history_dim: true
nan_policy: disabled
nan_check_per_term: true
actions:
joint_pos:
entity_name: robot
clip: null
transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType
- joint
actuator_names: !!python/tuple
- .*
scale:
joint1: 0.3599426554453139
joint2: 0.1597918534090456
joint3: 0.1904427157497401
joint4: 0.5250193985879242
joint5: 1.7347616639294616
joint6: 5.520026131457555
left_finger: 0.08657395590844981
offset: 0.0
preserve_order: false
use_default_offset: true
events:
reset_base:
func: !!python/name:mjlab.envs.mdp.events.reset_root_state_uniform ''
params:
pose_range: {}
velocity_range: {}
mode: reset
interval_range_s: null
is_global_time: false
min_step_count_between_reset: 0
reset_robot_joints:
func: !!python/name:mjlab.envs.mdp.events.reset_joints_by_offset ''
params:
position_range: !!python/tuple
- 0.0
- 0.0
velocity_range: !!python/tuple
- 0.0
- 0.0
asset_cfg:
name: robot
joint_names: !!python/tuple
- .*
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
body_names: null
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
geom_names: null
geom_ids: !!python/object/apply:builtins.slice
- null
- null
- null
site_names: null
site_ids: !!python/object/apply:builtins.slice
- null
- null
- null
actuator_names: null
actuator_ids: !!python/object/apply:builtins.slice
- null
- null
- null
tendon_names: null
tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
camera_names: null
camera_ids: !!python/object/apply:builtins.slice
- null
- null
- null
light_names: null
light_ids: !!python/object/apply:builtins.slice
- null
- null
- null
material_names: null
material_ids: !!python/object/apply:builtins.slice
- null
- null
- null
pair_names: null
pair_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
fingertip_friction_slide:
func: &id006 !!python/name:mjlab.envs.mdp.dr.geom.geom_friction ''
params:
asset_cfg:
name: robot
joint_names: null
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
body_names: null
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
geom_names: '[lr]f_down(6|7|8|9|10|11)_collision'
geom_ids: !!python/object/apply:builtins.slice
- null
- null
- null
site_names: null
site_ids: !!python/object/apply:builtins.slice
- null
- null
- null
actuator_names: null
actuator_ids: !!python/object/apply:builtins.slice
- null
- null
- null
tendon_names: null
tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
camera_names: null
camera_ids: !!python/object/apply:builtins.slice
- null
- null
- null
light_names: null
light_ids: !!python/object/apply:builtins.slice
- null
- null
- null
material_names: null
material_ids: !!python/object/apply:builtins.slice
- null
- null
- null
pair_names: null
pair_ids: !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: false
operation: abs
distribution: uniform
axes:
- 0
ranges: !!python/tuple
- 0.3
- 1.5
mode: startup
interval_range_s: null
is_global_time: false
min_step_count_between_reset: 0
fingertip_friction_spin:
func: *id006
params:
asset_cfg:
name: robot
joint_names: null
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
body_names: null
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
geom_names: '[lr]f_down(6|7|8|9|10|11)_collision'
geom_ids: !!python/object/apply:builtins.slice
- null
- null
- null
site_names: null
site_ids: !!python/object/apply:builtins.slice
- null
- null
- null
actuator_names: null
actuator_ids: !!python/object/apply:builtins.slice
- null
- null
- null
tendon_names: null
tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
camera_names: null
camera_ids: !!python/object/apply:builtins.slice
- null
- null
- null
light_names: null
light_ids: !!python/object/apply:builtins.slice
- null
- null
- null
material_names: null
material_ids: !!python/object/apply:builtins.slice
- null
- null
- null
pair_names: null
pair_ids: !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: false
operation: abs
distribution: log_uniform
axes:
- 1
ranges: !!python/tuple
- 0.0001
- 0.02
mode: startup
interval_range_s: null
is_global_time: false
min_step_count_between_reset: 0
fingertip_friction_roll:
func: *id006
params:
asset_cfg:
name: robot
joint_names: null
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
body_names: null
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
geom_names: '[lr]f_down(6|7|8|9|10|11)_collision'
geom_ids: !!python/object/apply:builtins.slice
- null
- null
- null
site_names: null
site_ids: !!python/object/apply:builtins.slice
- null
- null
- null
actuator_names: null
actuator_ids: !!python/object/apply:builtins.slice
- null
- null
- null
tendon_names: null
tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
camera_names: null
camera_ids: !!python/object/apply:builtins.slice
- null
- null
- null
light_names: null
light_ids: !!python/object/apply:builtins.slice
- null
- null
- null
material_names: null
material_ids: !!python/object/apply:builtins.slice
- null
- null
- null
pair_names: null
pair_ids: !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: false
operation: abs
distribution: log_uniform
axes:
- 2
ranges: !!python/tuple
- 1.0e-05
- 0.005
mode: startup
interval_range_s: null
is_global_time: false
min_step_count_between_reset: 0
seed: 42
sim:
nconmax: 55
njmax: 600
ls_parallel: true
contact_sensor_maxmatch: 64
mujoco:
timestep: 0.005
integrator: implicitfast
impratio: 10
cone: elliptic
jacobian: auto
solver: newton
iterations: 10
tolerance: 1.0e-08
ls_iterations: 20
ls_tolerance: 0.01
ccd_iterations: 50
gravity: !!python/tuple
- 0.0
- 0.0
- -9.81
disableflags: !!python/tuple []
enableflags: !!python/tuple []
nan_guard:
enabled: false
buffer_size: 100
output_dir: /tmp/mjlab/nan_dumps
max_envs_to_dump: 5
viewer:
lookat: !!python/tuple
- 0.0
- 0.0
- 0.0
distance: 1.5
fovy: null
elevation: -5.0
azimuth: 120.0
origin_type: !!python/object/apply:mjlab.viewer.viewer_config.OriginType
- 4
entity_name: robot
body_name: arm
env_idx: 0
max_extra_envs: 2
enable_reflections: true
enable_shadows: true
height: 240
width: 320
episode_length_s: 20.0
rewards:
lift:
func: !!python/name:mjlab.tasks.manipulation.mdp.rewards.staged_position_reward ''
params:
command_name: lift_height
object_name: cube
reaching_std: 0.2
bringing_std: 0.3
asset_cfg:
name: robot
joint_names: null
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
body_names: null
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
geom_names: null
geom_ids: !!python/object/apply:builtins.slice
- null
- null
- null
site_names: !!python/tuple
- grasp_site
site_ids: !!python/object/apply:builtins.slice
- null
- null
- null
actuator_names: null
actuator_ids: !!python/object/apply:builtins.slice
- null
- null
- null
tendon_names: null
tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
camera_names: null
camera_ids: !!python/object/apply:builtins.slice
- null
- null
- null
light_names: null
light_ids: !!python/object/apply:builtins.slice
- null
- null
- null
material_names: null
material_ids: !!python/object/apply:builtins.slice
- null
- null
- null
pair_names: null
pair_ids: !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: false
weight: 1.0
lift_precise:
func: !!python/name:mjlab.tasks.manipulation.mdp.rewards.bring_object_reward ''
params:
command_name: lift_height
object_name: cube
std: 0.05
weight: 1.0
action_rate_l2:
func: !!python/name:mjlab.envs.mdp.rewards.action_rate_l2 ''
params: {}
weight: -0.01
joint_pos_limits:
func: !!python/name:mjlab.envs.mdp.rewards.joint_pos_limits ''
params:
asset_cfg:
name: robot
joint_names: !!python/tuple
- .*
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
body_names: null
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
geom_names: null
geom_ids: !!python/object/apply:builtins.slice
- null
- null
- null
site_names: null
site_ids: !!python/object/apply:builtins.slice
- null
- null
- null
actuator_names: null
actuator_ids: !!python/object/apply:builtins.slice
- null
- null
- null
tendon_names: null
tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
camera_names: null
camera_ids: !!python/object/apply:builtins.slice
- null
- null
- null
light_names: null
light_ids: !!python/object/apply:builtins.slice
- null
- null
- null
material_names: null
material_ids: !!python/object/apply:builtins.slice
- null
- null
- null
pair_names: null
pair_ids: !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: false
weight: -10.0
joint_vel_hinge:
func: !!python/name:mjlab.tasks.manipulation.mdp.rewards.joint_velocity_hinge_penalty ''
params:
max_vel: 0.5
asset_cfg:
name: robot
joint_names: !!python/tuple
- .*
joint_ids: !!python/object/apply:builtins.slice
- null
- null
- null
body_names: null
body_ids: !!python/object/apply:builtins.slice
- null
- null
- null
geom_names: null
geom_ids: !!python/object/apply:builtins.slice
- null
- null
- null
site_names: null
site_ids: !!python/object/apply:builtins.slice
- null
- null
- null
actuator_names: null
actuator_ids: !!python/object/apply:builtins.slice
- null
- null
- null
tendon_names: null
tendon_ids: !!python/object/apply:builtins.slice
- null
- null
- null
camera_names: null
camera_ids: !!python/object/apply:builtins.slice
- null
- null
- null
light_names: null
light_ids: !!python/object/apply:builtins.slice
- null
- null
- null
material_names: null
material_ids: !!python/object/apply:builtins.slice
- null
- null
- null
pair_names: null
pair_ids: !!python/object/apply:builtins.slice
- null
- null
- null
preserve_order: false
weight: -0.01
terminations:
time_out:
func: !!python/name:mjlab.envs.mdp.terminations.time_out ''
params: {}
time_out: true
ee_ground_collision:
func: !!python/name:mjlab.tasks.manipulation.mdp.terminations.illegal_contact ''
params:
sensor_name: ee_ground_collision
force_threshold: 10.0
time_out: false
commands:
lift_height:
resampling_time_range: !!python/tuple
- 8.0
- 12.0
debug_vis: true
entity_name: cube
success_threshold: 0.05
difficulty: dynamic
target_position_range:
x: !!python/tuple
- 0.3
- 0.5
y: !!python/tuple
- -0.2
- 0.2
z: !!python/tuple
- 0.2
- 0.4
object_pose_range:
x: !!python/tuple
- 0.2
- 0.4
y: !!python/tuple
- -0.2
- 0.2
z: !!python/tuple
- 0.02
- 0.05
yaw: !!python/tuple
- -3.14
- 3.14
viz:
target_color: !!python/tuple
- 1.0
- 0.5
- 0.0
- 0.3
curriculum:
joint_vel_hinge_weight:
func: !!python/name:mjlab.envs.mdp.curriculums.reward_curriculum ''
params:
reward_name: joint_vel_hinge
stages:
- step: 0
weight: -0.01
- step: 12000
weight: -0.1
- step: 24000
weight: -1.0
metrics: {}
recorders: {}
is_finite_horizon: false
auto_reset: true
scale_rewards_by_dt: true
|