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FactoryTaskNutBoltPick.yaml
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FactoryTaskNutBoltPick.yaml
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# See schema in factory_schema_config_task.py for descriptions of common parameters.
defaults:
- _self_
# - /factory_schema_config_task
name: FactoryTaskNutBoltPick
physics_engine: ${..physics_engine}
sim:
use_gpu_pipeline: ${eq:${...pipeline},"gpu"}
dt: 0.00833333333
gravity_mag: 9.81
disable_gravity: False
add_ground_plane: True
add_distant_light: False
use_fabric: True
enable_scene_query_support: True
disable_contact_processing: False
default_material:
static_friction: 1.0
dynamic_friction: 1.0
restitution: 0.0
physx:
# per-scene
use_gpu: ${eq:${....sim_device},"gpu"} # set to False to run on CPU
solver_position_iteration_count: 16
solver_velocity_iteration_count: 0
contact_offset: 0.005
rest_offset: 0.0
worker_thread_count: ${....num_threads}
solver_type: ${....solver_type} # 0: PGS, 1: TGS
bounce_threshold_velocity: 0.2
friction_offset_threshold: 0.01
friction_correlation_distance: 0.00625
max_depenetration_velocity: 5.0
enable_sleeping: True
enable_stabilization: True
# GPU buffers
gpu_max_rigid_contact_count: 524288
gpu_max_rigid_patch_count: 33554432
gpu_found_lost_pairs_capacity: 8192
gpu_found_lost_aggregate_pairs_capacity: 262144
gpu_total_aggregate_pairs_capacity: 1048576
gpu_max_soft_body_contacts: 1048576
gpu_max_particle_contacts: 1048576
gpu_heap_capacity: 33554432
gpu_temp_buffer_capacity: 16777216
gpu_max_num_partitions: 8
franka:
override_usd_defaults: False
enable_self_collisions: True
enable_gyroscopic_forces: True
# per-actor
solver_position_iteration_count: 16
solver_velocity_iteration_count: 0
sleep_threshold: 0.005
stabilization_threshold: 0.001
# per-body
density: 1000.0
max_depenetration_velocity: 5.0
# per-shape
contact_offset: 0.005
rest_offset: 0.0
nut:
# per-actor
solver_position_iteration_count: 16
solver_velocity_iteration_count: 0
bolt:
# per-actor
solver_position_iteration_count: 16
solver_velocity_iteration_count: 0
env:
controlFrequencyInv: 2 # 60 Hz
numEnvs: ${resolve_default:128,${...num_envs}}
numObservations: 20
numActions: 12
close_and_lift: True # close gripper and lift after last step of episode
num_gripper_move_sim_steps: 40 # number of timesteps to reserve for moving gripper before first step of episode
num_gripper_close_sim_steps: 40 # number of timesteps to reserve for closing gripper after last step of episode
num_gripper_lift_sim_steps: 40 # number of timesteps to reserve for lift after last step of episode
randomize:
franka_arm_initial_dof_pos: [0.3413, -0.8011, -0.0670, -1.8299, 0.0266, 1.0185, 1.0927]
fingertip_midpoint_pos_initial: [0.0, -0.2, 0.2] # initial position of hand above table
fingertip_midpoint_pos_noise: [0.2, 0.2, 0.1] # noise on hand position
fingertip_midpoint_rot_initial: [3.1416, 0, 3.1416] # initial rotation of fingertips (Euler)
fingertip_midpoint_rot_noise: [0.3, 0.3, 1] # noise on rotation
nut_pos_xy_initial: [0.0, -0.3] # initial XY position of nut on table
nut_pos_xy_noise: [0.1, 0.1] # noise on nut position
bolt_pos_xy_initial: [0.0, 0.0] # initial position of bolt on table
bolt_pos_xy_noise: [0.1, 0.1] # noise on bolt position
rl:
pos_action_scale: [0.1, 0.1, 0.1]
rot_action_scale: [0.1, 0.1, 0.1]
force_action_scale: [1.0, 1.0, 1.0]
torque_action_scale: [1.0, 1.0, 1.0]
clamp_rot: True
clamp_rot_thresh: 1.0e-6
num_keypoints: 4 # number of keypoints used in reward
keypoint_scale: 0.5 # length of line of keypoints
keypoint_reward_scale: 1.0 # scale on keypoint-based reward
action_penalty_scale: 0.0 # scale on action penalty
max_episode_length: 128
success_bonus: 0.0 # bonus if nut has been lifted
ctrl:
ctrl_type: joint_space_id # {gym_default,
# joint_space_ik, joint_space_id,
# task_space_impedance, operational_space_motion,
# open_loop_force, closed_loop_force,
# hybrid_force_motion}
all:
jacobian_type: geometric
gripper_prop_gains: [100, 100]
gripper_deriv_gains: [2, 2]
gym_default:
ik_method: dls
joint_prop_gains: [40, 40, 40, 40, 40, 40, 40]
joint_deriv_gains: [8, 8, 8, 8, 8, 8, 8]
gripper_prop_gains: [500, 500]
gripper_deriv_gains: [20, 20]
joint_space_ik:
ik_method: dls
joint_prop_gains: [1, 1, 1, 1, 1, 1, 1]
joint_deriv_gains: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
joint_space_id:
ik_method: dls
joint_prop_gains: [40, 40, 40, 40, 40, 40, 40]
joint_deriv_gains: [8, 8, 8, 8, 8, 8, 8]
task_space_impedance:
motion_ctrl_axes: [1, 1, 1, 1, 1, 1]
task_prop_gains: [40, 40, 40, 40, 40, 40]
task_deriv_gains: [8, 8, 8, 8, 8, 8]
operational_space_motion:
motion_ctrl_axes: [1, 1, 1, 1, 1, 1]
task_prop_gains: [1, 1, 1, 1, 1, 1]
task_deriv_gains: [1, 1, 1, 1, 1, 1]
open_loop_force:
force_ctrl_axes: [0, 0, 1, 0, 0, 0]
closed_loop_force:
force_ctrl_axes: [0, 0, 1, 0, 0, 0]
wrench_prop_gains: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
hybrid_force_motion:
motion_ctrl_axes: [1, 1, 0, 1, 1, 1]
task_prop_gains: [40, 40, 40, 40, 40, 40]
task_deriv_gains: [8, 8, 8, 8, 8, 8]
force_ctrl_axes: [0, 0, 1, 0, 0, 0]
wrench_prop_gains: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]