Anymal.yaml

# used to create the object
name: Anymal

physics_engine: ${..physics_engine}

env:
  numEnvs: ${resolve_default:4096,${...num_envs}}
  envSpacing: 4.  # [m]

  clipObservations: 5.0
  clipActions: 1.0

  controlFrequencyInv: 2

  baseInitState:
    pos: [0.0, 0.0, 0.62] # 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]

  randomCommandVelocityRanges:
    linear_x: [-2., 2.] # min max [m/s]
    linear_y: [-1., 1.]   # min max [m/s]
    yaw: [-1., 1.]          # min max [rad/s]

  control:
    # PD Drive parameters:
    stiffness: 85.0  # [N*m/rad]
    damping: 2.0     # [N*m*s/rad]
    actionScale: 13.5

  defaultJointAngles:  # = target angles when action = 0.0
    LF_HAA: 0.03    # [rad]
    LH_HAA: 0.03    # [rad]
    RF_HAA: -0.03   # [rad]
    RH_HAA: -0.03   # [rad]

    LF_HFE: 0.4     # [rad]
    LH_HFE: -0.4    # [rad]
    RF_HFE: 0.4     # [rad]
    RH_HFE: -0.4    # [rad]

    LF_KFE: -0.8    # [rad]
    LH_KFE: 0.8     # [rad]
    RF_KFE: -0.8    # [rad]
    RH_KFE: 0.8     # [rad]

  learn:
    # rewards
    linearVelocityXYRewardScale: 1.0
    angularVelocityZRewardScale: 0.5
    linearVelocityZRewardScale: -0.03
    jointAccRewardScale: -0.0003
    actionRateRewardScale: -0.006
    cosmeticRewardScale: -0.06

    # normalization
    linearVelocityScale: 2.0
    angularVelocityScale: 0.25
    dofPositionScale: 1.0
    dofVelocityScale: 0.05

    # episode length in seconds
    episodeLength_s: 50

sim:
  dt: 0.01
  use_gpu_pipeline: ${eq:${...pipeline},"gpu"}
  gravity: [0.0, 0.0, -9.81]
  add_ground_plane: True
  use_flatcache: True
  enable_scene_query_support: False
  disable_contact_processing: False

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

  default_physics_material:
    static_friction: 1.0
    dynamic_friction: 1.0
    restitution: 0.0

  physx:
    worker_thread_count: ${....num_threads}
    solver_type: ${....solver_type}
    use_gpu: ${eq:${....sim_device},"gpu"} # set to False to run on CPU
    solver_position_iteration_count: 4
    solver_velocity_iteration_count: 1
    contact_offset: 0.02
    rest_offset: 0.0
    bounce_threshold_velocity: 0.2
    friction_offset_threshold: 0.04
    friction_correlation_distance: 0.025
    enable_sleeping: True
    enable_stabilization: True
    max_depenetration_velocity: 100.0

    # GPU buffers
    gpu_max_rigid_contact_count: 524288
    gpu_max_rigid_patch_count: 163840
    gpu_found_lost_pairs_capacity: 4194304
    gpu_found_lost_aggregate_pairs_capacity: 33554432
    gpu_total_aggregate_pairs_capacity: 4194304
    gpu_max_soft_body_contacts: 1048576
    gpu_max_particle_contacts: 1048576
    gpu_heap_capacity: 134217728
    gpu_temp_buffer_capacity: 33554432
    gpu_max_num_partitions: 8

  Anymal:
    # -1 to use default values
    override_usd_defaults: False
    enable_self_collisions: False
    enable_gyroscopic_forces: True
    # also in stage params
    # per-actor
    solver_position_iteration_count: 4
    solver_velocity_iteration_count: 1
    sleep_threshold: 0.005
    stabilization_threshold: 0.001
    # per-body
    density: -1
    max_depenetration_velocity: 100.0
    # per-shape
    contact_offset: 0.02
    rest_offset: 0.0