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KHRLocomotion.yaml
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# used to create the object
name: KHRLocomotion
physics_engine: ${..physics_engine}
env:
numEnvs: ${resolve_default:4096,${...num_envs}}
envSpacing: 1. # [m]
enableDebugVis: False
randomInitialize: False
# clipObservations: 5.0
# clipActions: 5.0
plane:
staticFriction: 1.0 # [-]
dynamicFriction: 1.0 # [-]
restitution: 0. # [-]
baseInitState:
pos: [0.0, 0.0, 0.32] # x,y,z [m]
rot: [0.0, 0.0, 0.0, 1.0] # x,y,z,w [quat]
vLinear: [0.0, 0.0, 0.0] # x,y,z [m/s]
vAngular: [0.0, 0.0, 0.0] # x,y,z [rad/s]
initDroppingStep: 0 # step
baseTargetState:
pos: [0.0, 0.0, 0.303] # x,y,z [m]
rot: [0.0, 0.0, 0.0, 1.0] # x,y,z,w [quat]
vLinear: [0.0, 0.0, 0.0] # x,y,z [m/s]
vAngular: [0.0, 0.0, 0.0] # x,y,z [rad/s]
control:
# PD Drive parameters:
stiffness: 10.0 # [N*m/rad]
damping: 0.03 # [N*m*s/rad]
actionScale: 0.279252 # 16 * pi / 180
# actionScale: 0.279252 # 16 * pi / 180
controlFrequencyInv: 8 # 0.02, 50 Hz
torqueLimit: 2.5 # N*m, spec sheet : 2.4525 N*m, 25.0 kgf * cm
prevActionBuffer: 0
defaultJointAngles: # = target angles when action = 0.0
LARM_JOINT0: 0.0 # [deg] -3.1416 ~ 0.7854
LARM_JOINT1: 0.0 # [deg] -0.5236 ~ 3.1416
LARM_JOINT2: 0.0 # [deg] -2.0944 ~ 0.0
LLEG_JOINT0: 0.0 # [deg] -0.2618 ~ 0.5236
LLEG_JOINT1: -25.0 # [deg] -1.5708 ~ 1.5708
LLEG_JOINT2: 50.0 # [deg] 0.0 ~ 2.6180
LLEG_JOINT3: -25.0 # [deg] -1.8236 ~ 2.3561
LLEG_JOINT4: 0.0 # [deg] -0.5236 ~ 0.0
RARM_JOINT0: 0.0 # [deg] -3.1416 ~ 0.7854
RARM_JOINT1: 0.0 # [deg] -3.1416 ~ 0.5236
RARM_JOINT2: 0.0 # [deg] -2.0944 ~ 0.0
RLEG_JOINT0: 0.0 # [deg] -0.5236 ~ 0.2518
RLEG_JOINT1: -25.0 # [deg] -1.5708 ~ 1.5708
RLEG_JOINT2: 50.0 # [deg] 0.0 ~ 2.6108
RLEG_JOINT3: -25.0 # [deg] -1.8236 ~ 2.3561
RLEG_JOINT4: 0.0 # [deg] 0.0 ~ 0.5236
# LARM_JOINT0: 0.0 # [deg]
# LARM_JOINT1: 0.0 # [deg]
# LARM_JOINT2: 0.0 # [deg]
# LLEG_JOINT0: 0.0 # [deg]
# LLEG_JOINT1: 0.0 # [deg]
# LLEG_JOINT2: 0.0 # [deg]
# LLEG_JOINT3: 0.0 # [deg]
# LLEG_JOINT4: 0.0 # [deg]
# RARM_JOINT0: 0.0 # [deg]
# RARM_JOINT1: 0.0 # [deg]
# RARM_JOINT2: 0.0 # [deg]
# RLEG_JOINT0: 0.0 # [deg]
# RLEG_JOINT1: 0.0 # [deg]
# RLEG_JOINT2: 0.0 # [deg]
# RLEG_JOINT3: 0.0 # [deg]
# RLEG_JOINT4: 0.0 # [deg]
urdfAsset:
collapseFixedJoints: True
fixBaseLink: False
defaultDofDriveMode: 0 # see GymDofDriveModeFlags (0 is none, 1 is pos tgt, 2 is vel tgt, 4 effort)
assetOptions:
maxLinearVelocity: 100.0
maxAngularVelocity: 100.0
linearDamping: 0.0
angularDamping: 0.0
armature: 1e-5
thickness: 0.0001
disableGravity: False
learn:
# rewards
uprightRewardScale: 0.3
headingRewardScale: 0.3
dofPosErrorRewardScale: 0.4
# penalty
torques: 0.001
linearVelocity: 0.1
# normalization
linearVelocityScale: 1.0
angularVelocityScale: 0.3183 # 1 / pi
dofPositionScale: 1.0
dofVelocityScale: 1.0 # 0.05
# episode length in seconds
episodeLength_s: 20
# push robot
pushRobots: True
pushInterval_s: 8
# viewer cam:
viewer:
refEnv: 0
# pos: [-0.5, -0.5, 0.5] # [m]
# lookat: [-0.5, 1.0, 0.2] # [m]
pos: [-0.5, -0.5, 0.5] # [m]
lookat: [1.0, 1.0, 0.2] # [m]
# set to True if you use camera sensors in the environment
enableCameraSensors: False
sim:
dt: 0.0025
substeps: 2
up_axis: "z"
use_gpu_pipeline: ${eq:${...pipeline},"gpu"}
gravity: [0.0, 0.0, -9.81]
physx:
num_threads: ${....num_threads}
solver_type: ${....solver_type}
use_gpu: ${contains:"cuda",${....sim_device}} # set to False to run on CPU
num_position_iterations: 4
num_velocity_iterations: 1
contact_offset: 0.02
rest_offset: 0.0
bounce_threshold_velocity: 0.2
max_depenetration_velocity: 100.0 # TODO: modify good value
default_buffer_size_multiplier: 5.0
max_gpu_contact_pairs: 8388608 # 8*1024*1024
num_subscenes: ${....num_subscenes}
contact_collection: 1 # 0: CC_NEVER (don't collect contact info), 1: CC_LAST_SUBSTEP (collect only contacts on last substep), 2: CC_ALL_SUBSTEPS (default - all contacts)
task:
randomize: True
randomization_params:
frequency: 600 # Define how many environment steps between generating new randomizations
observations:
range: [0, .002] # range for the white noise
operation: "additive"
distribution: "gaussian"
actions:
range: [0., .02]
operation: "additive"
distribution: "gaussian"
sim_params:
gravity:
range: [0, 0.4]
operation: "additive"
distribution: "gaussian"
schedule: "linear" # "linear" will linearly interpolate between no rand and max rand
schedule_steps: 3000
actor_params:
khr:
color: True
rigid_body_properties:
mass:
range: [0.5, 1.5]
operation: "scaling"
distribution: "uniform"
setup_only: True # Property will only be randomized once before simulation is started. See Domain Randomization Documentation for more info.
schedule: "linear" # "linear" will linearly interpolate between no rand and max rand
schedule_steps: 3000
rigid_shape_properties:
friction:
num_buckets: 500
range: [0.7, 1.3]
operation: "scaling"
distribution: "uniform"
schedule: "linear" # "linear" will scale the current random sample by `min(current num steps, schedule_steps) / schedule_steps`
schedule_steps: 3000
restitution:
range: [0., 0.7]
operation: "scaling"
distribution: "uniform"
schedule: "linear" # "linear" will scale the current random sample by `min(current num steps, schedule_steps) / schedule_steps`
schedule_steps: 3000
dof_properties:
damping:
range: [0.5, 1.5]
operation: "scaling"
distribution: "uniform"
schedule: "linear" # "linear" will scale the current random sample by `min(current num steps, schedule_steps) / schedule_steps`
schedule_steps: 3000
stiffness:
range: [0.5, 1.5]
operation: "scaling"
distribution: "uniform"
schedule: "linear" # "linear" will scale the current random sample by `min(current num steps, schedule_steps) / schedule_steps`
schedule_steps: 3000
lower:
range: [0, 0.01]
operation: "additive"
distribution: "gaussian"
schedule: "linear" # "linear" will scale the current random sample by `min(current num steps, schedule_steps) / schedule_steps`
schedule_steps: 3000
upper:
range: [0, 0.01]
operation: "additive"
distribution: "gaussian"
schedule: "linear" # "linear" will scale the current random sample by `min(current num steps, schedule_steps) / schedule_steps`
schedule_steps: 3000