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Humanoid.yaml
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Humanoid.yaml
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# used to create the object
name: Humanoid
physics_engine: ${..physics_engine}
# if given, will override the device setting in gym.
env:
numEnvs: ${resolve_default:4096,${...num_envs}}
envSpacing: 5
episodeLength: 1000
enableDebugVis: False
clipActions: 1.0
powerScale: 1.0
# reward parameters
headingWeight: 0.5
upWeight: 0.1
# cost parameters
actionsCost: 0.01
energyCost: 0.05
dofVelocityScale: 0.1
angularVelocityScale: 0.25
contactForceScale: 0.01
jointsAtLimitCost: 0.25
deathCost: -1.0
terminationHeight: 0.8
asset:
assetFileName: "mjcf/nv_humanoid.xml"
plane:
staticFriction: 1.0
dynamicFriction: 1.0
restitution: 0.0
# 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: 0.0
bounce_threshold_velocity: 0.2
max_depenetration_velocity: 10.0
default_buffer_size_multiplier: 5.0
max_gpu_contact_pairs: 8388608 # 8*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
randomization_params:
# specify which attributes to randomize for each actor type and property
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:
humanoid:
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