FactoryTaskNutBoltScrew.yaml

# See schema in factory_schema_config_task.py for descriptions of common parameters.

defaults:
    - FactoryBase
    - _self_
    # - /factory_schema_config_task

name: FactoryTaskNutBoltScrew
physics_engine: ${..physics_engine}

sim:
    disable_gravity: False

env:
    numEnvs: ${resolve_default:128,${...num_envs}}
    numObservations: 32
    numActions: 12

randomize:
    franka_arm_initial_dof_pos: [1.5178e-03, -1.9651e-01, -1.4364e-03, -1.9761e+00, -2.7717e-04, 1.7796e+00, 7.8556e-01]
    nut_rot_initial: 30.0  # initial rotation of nut from configuration in CAD [deg]; default = 30.0 (gripper aligns with flat surfaces of nut)

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]

    unidirectional_rot: True  # constrain Franka Z-rot to be unidirectional
    unidirectional_force: False  # constrain Franka Z-force to be unidirectional (useful for debugging)

    clamp_rot: True
    clamp_rot_thresh: 1.0e-6

    add_obs_finger_force: False  # add observations of force on left and right fingers

    keypoint_reward_scale: 1.0  # scale on keypoint-based reward
    action_penalty_scale: 0.0  # scale on action penalty

    max_episode_length: 8192  # terminate episode after this number of timesteps (failure)

    far_error_thresh: 0.100  # threshold above which nut is considered too far from bolt
    success_bonus: 0.0  # bonus if nut is close enough to base of bolt shank

ctrl:
    ctrl_type: operational_space_motion  # {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: [1, 1]
    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: [0, 0, 1, 0, 0, 1]
        task_prop_gains: [1, 1, 1, 1, 1, 200]
        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]