Ingenuity.yaml

# used to create the object
name: Ingenuity

physics_engine: ${..physics_engine}

# if given, will override the device setting in gym.
env:
  numEnvs: ${resolve_default:4096,${...num_envs}}
  envSpacing: 2.5
  maxEpisodeLength: 2000
  enableDebugVis: False

  clipObservations: 5.0
  clipActions: 1.0

sim:
  dt: 0.01
  use_gpu_pipeline: ${eq:${...pipeline},"gpu"}
  gravity: [0.0, 0.0, -3.721]
  add_ground_plane: True
  add_distant_light: True
  use_flatcache: True
  enable_scene_query_support: False
  # set to True if you use camera sensors in the environment
  enable_cameras: False
  disable_contact_processing: False

  physx:
    num_threads: ${....num_threads}
    solver_type: ${....solver_type}
    use_gpu: ${eq:${....sim_device},"gpu"} # set to False to run on CPU
    solver_position_iteration_count: 6
    solver_velocity_iteration_count: 0
    contact_offset: 0.02
    rest_offset: 0.001
    bounce_threshold_velocity: 0.2
    max_depenetration_velocity: 1000.0
    friction_offset_threshold: 0.04
    friction_correlation_distance: 0.025
    enable_sleeping: True
    enable_stabilization: False

    # GPU buffers
    gpu_max_rigid_contact_count: 524288
    gpu_max_rigid_patch_count: 81920
    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: 67108864
    gpu_temp_buffer_capacity: 16777216
    gpu_max_num_partitions: 8

  ingenuity:
    # -1 to use default values
    override_usd_defaults: False
    enable_self_collisions: True
    enable_gyroscopic_forces: True
    # also in stage params
    # per-actor
    solver_position_iteration_count: 6
    solver_velocity_iteration_count: 0
    sleep_threshold: 0.005
    stabilization_threshold: 0.001
    # per-body
    density: -1
    max_depenetration_velocity: 1000.0

  ball:
    # -1 to use default values
    override_usd_defaults: False
    fixed_base: True
    enable_self_collisions: False
    enable_gyroscopic_forces: True
    # also in stage params
    # per-actor
    solver_position_iteration_count: 6
    solver_velocity_iteration_count: 0
    sleep_threshold: 0.005
    stabilization_threshold: 0.001
    # per-body
    density: -1
    max_depenetration_velocity: 1000.0