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ShadowHandOpenAI_FF.yaml
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ShadowHandOpenAI_FF.yaml
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# used to create the object
name: ShadowHand
physics_engine: ${..physics_engine}
# if given, will override the device setting in gym.
env:
numEnvs: ${resolve_default:8192,${...num_envs}}
envSpacing: 0.75
episodeLength: 160 # Not used, but would be 8 sec if resetTime is not set
resetTime: 8 # Max time till reset, in seconds, if a goal wasn't achieved. Will overwrite the episodeLength if is > 0.
clipObservations: 5.0
clipActions: 1.0
useRelativeControl: False
dofSpeedScale: 20.0
actionsMovingAverage: 0.3
controlFrequencyInv: 3 #20 Hz
startPositionNoise: 0.01
startRotationNoise: 0.0
resetPositionNoise: 0.01
resetRotationNoise: 0.0
resetDofPosRandomInterval: 0.2
resetDofVelRandomInterval: 0.0
# Random forces applied to the object
forceScale: 1.0
forceProbRange: [0.001, 0.1]
forceDecay: 0.99
forceDecayInterval: 0.08
# reward -> dictionary
distRewardScale: -10.0
rotRewardScale: 1.0
rotEps: 0.1
actionPenaltyScale: -0.0002
reachGoalBonus: 250
fallDistance: 0.24
fallPenalty: -50.0
velObsScale: 0.2
objectType: "block"
observationType: "openai" # can be "full_no_vel", "full", "openai", "full_state"
asymmetric_observations: True
successTolerance: 0.4
printNumSuccesses: False
maxConsecutiveSuccesses: 50
averFactor: 0.1 # running mean factor for consecutive successes calculation
sim:
dt: 0.016667 # 1/60 s
add_ground_plane: True
add_distant_light: False
use_gpu_pipeline: ${eq:${...pipeline},"gpu"}
use_fabric: 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_material:
static_friction: 1.0
dynamic_friction: 1.0
restitution: 0.0
physx:
# per-scene
use_gpu: ${eq:${....sim_device},"gpu"} # set to False to run on CPU
worker_thread_count: ${....num_threads}
solver_type: ${....solver_type} # 0: PGS, 1: TGS
bounce_threshold_velocity: 0.2
friction_offset_threshold: 0.04
friction_correlation_distance: 0.025
enable_sleeping: True
enable_stabilization: True
# GPU buffers
gpu_max_rigid_contact_count: 1048576
gpu_max_rigid_patch_count: 33554432
gpu_found_lost_pairs_capacity: 20971520
gpu_found_lost_aggregate_pairs_capacity: 20971520
gpu_total_aggregate_pairs_capacity: 20971520
gpu_max_soft_body_contacts: 1048576
gpu_max_particle_contacts: 1048576
gpu_heap_capacity: 33554432
gpu_temp_buffer_capacity: 16777216
gpu_max_num_partitions: 8
shadow_hand:
# -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: 8
solver_velocity_iteration_count: 0
sleep_threshold: 0.005
stabilization_threshold: 0.0005
# per-body
density: -1
max_depenetration_velocity: 1000.0
object:
# -1 to use default values
override_usd_defaults: False
make_kinematic: False
enable_self_collisions: False
enable_gyroscopic_forces: True
# also in stage params
# per-actor
solver_position_iteration_count: 8
solver_velocity_iteration_count: 0
sleep_threshold: 0.005
stabilization_threshold: 0.0025
# per-body
density: 567.0
max_depenetration_velocity: 1000.0
goal_object:
# -1 to use default values
override_usd_defaults: False
make_kinematic: True
enable_self_collisions: False
enable_gyroscopic_forces: True
# also in stage params
# per-actor
solver_position_iteration_count: 8
solver_velocity_iteration_count: 0
sleep_threshold: 0.000
stabilization_threshold: 0.0025
# per-body
density: -1
max_depenetration_velocity: 1000.0
domain_randomization:
randomize: True
min_frequency: 720
randomization_params:
observations:
on_reset:
operation: "additive"
distribution: "gaussian"
distribution_parameters: [0, .0001]
on_interval:
frequency_interval: 1
operation: "additive"
distribution: "gaussian"
distribution_parameters: [0, .002]
actions:
on_reset:
operation: "additive"
distribution: "gaussian"
distribution_parameters: [0, 0.015]
on_interval:
frequency_interval: 1
operation: "additive"
distribution: "gaussian"
distribution_parameters: [0., 0.05]
simulation:
gravity:
on_interval:
frequency_interval: 720
operation: "additive"
distribution: "gaussian"
distribution_parameters: [[0.0, 0.0, 0.0], [0.0, 0.0, 0.4]]
rigid_prim_views:
object_view:
material_properties:
on_reset:
num_buckets: 250
operation: "scaling"
distribution: "uniform"
distribution_parameters: [[0.7, 1, 1], [1.3, 1, 1]]
scale:
on_startup:
operation: "scaling"
distribution: "uniform"
distribution_parameters: [0.95, 1.05]
mass:
on_reset:
operation: "scaling"
distribution: "uniform"
distribution_parameters: [0.5, 1.5]
articulation_views:
shadow_hand_view:
stiffness:
on_reset:
operation: "scaling"
distribution: "loguniform"
distribution_parameters: [0.75, 1.5]
damping:
on_reset:
operation: "scaling"
distribution: "loguniform"
distribution_parameters: [0.3, 3.0]
lower_dof_limits:
on_reset:
operation: "additive"
distribution: "gaussian"
distribution_parameters: [0.00, 0.01]
upper_dof_limits:
on_reset:
operation: "additive"
distribution: "gaussian"
distribution_parameters: [0.00, 0.01]
tendon_stiffnesses:
on_reset:
operation: "scaling"
distribution: "loguniform"
distribution_parameters: [0.75, 1.5]
tendon_dampings:
on_reset:
operation: "scaling"
distribution: "loguniform"
distribution_parameters: [0.3, 3.0]
material_properties:
on_reset:
num_buckets: 250
operation: "scaling"
distribution: "uniform"
distribution_parameters: [[0.7, 1, 1], [1.3, 1, 1]]