| 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 |
|
|
