Cartpole.yaml

# used to create the object
name: Cartpole

physics_engine: ${..physics_engine}

# if given, will override the device setting in gym. 
env:
  numEnvs: ${resolve_default:512,${...num_envs}}
  envSpacing: 4.0
  resetDist: 3.0
  maxEffort: 400.0

  clipObservations: 5.0
  clipActions: 1.0

  asset:
    assetRoot: "../../assets"
    assetFileName: "urdf/cartpole.urdf"

  # set to True if you use camera sensors in the environment
  enableCameraSensors: False

sim:
  dt: 0.0166 # 1/60 s
  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: 0
    contact_offset: 0.02
    rest_offset: 0.001
    bounce_threshold_velocity: 0.2
    max_depenetration_velocity: 100.0
    default_buffer_size_multiplier: 2.0
    max_gpu_contact_pairs: 1048576 # 1024*1024
    num_subscenes: ${....num_subscenes}
    contact_collection: 0 # 0: CC_NEVER (don't collect contact info), 1: CC_LAST_SUBSTEP (collect only contacts on last substep), 2: CC_ALL_SUBSTEPS (broken - do not use!)

task:
  randomize: False