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Replaces hardcoded module paths with
__name__ dunder (isaac-sim#1357)
# Description A minor change to automate where the config directory is located. ## Motivation If user wants to copy these files to their own project, they shouldn't have to change the paths in the registry.
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149 changes: 149 additions & 0 deletions
149
.../extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/anymal_c/anymal_c_env_cfg.py
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,149 @@ | ||
| # Copyright (c) 2022-2024, The Isaac Lab Project Developers. | ||
| # All rights reserved. | ||
| # | ||
| # SPDX-License-Identifier: BSD-3-Clause | ||
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| import omni.isaac.lab.envs.mdp as mdp | ||
| import omni.isaac.lab.sim as sim_utils | ||
| from omni.isaac.lab.assets import ArticulationCfg | ||
| from omni.isaac.lab.envs import DirectRLEnvCfg | ||
| from omni.isaac.lab.managers import EventTermCfg as EventTerm | ||
| from omni.isaac.lab.managers import SceneEntityCfg | ||
| from omni.isaac.lab.scene import InteractiveSceneCfg | ||
| from omni.isaac.lab.sensors import ContactSensorCfg, RayCasterCfg, patterns | ||
| from omni.isaac.lab.sim import SimulationCfg | ||
| from omni.isaac.lab.terrains import TerrainImporterCfg | ||
| from omni.isaac.lab.utils import configclass | ||
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| ## | ||
| # Pre-defined configs | ||
| ## | ||
| from omni.isaac.lab_assets.anymal import ANYMAL_C_CFG # isort: skip | ||
| from omni.isaac.lab.terrains.config.rough import ROUGH_TERRAINS_CFG # isort: skip | ||
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| @configclass | ||
| class EventCfg: | ||
| """Configuration for randomization.""" | ||
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| physics_material = EventTerm( | ||
| func=mdp.randomize_rigid_body_material, | ||
| mode="startup", | ||
| params={ | ||
| "asset_cfg": SceneEntityCfg("robot", body_names=".*"), | ||
| "static_friction_range": (0.8, 0.8), | ||
| "dynamic_friction_range": (0.6, 0.6), | ||
| "restitution_range": (0.0, 0.0), | ||
| "num_buckets": 64, | ||
| }, | ||
| ) | ||
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||
| add_base_mass = EventTerm( | ||
| func=mdp.randomize_rigid_body_mass, | ||
| mode="startup", | ||
| params={ | ||
| "asset_cfg": SceneEntityCfg("robot", body_names="base"), | ||
| "mass_distribution_params": (-5.0, 5.0), | ||
| "operation": "add", | ||
| }, | ||
| ) | ||
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| @configclass | ||
| class AnymalCFlatEnvCfg(DirectRLEnvCfg): | ||
| # env | ||
| episode_length_s = 20.0 | ||
| decimation = 4 | ||
| action_scale = 0.5 | ||
| action_space = 12 | ||
| observation_space = 48 | ||
| state_space = 0 | ||
|
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||
| # simulation | ||
| sim: SimulationCfg = SimulationCfg( | ||
| dt=1 / 200, | ||
| render_interval=decimation, | ||
| disable_contact_processing=True, | ||
| physics_material=sim_utils.RigidBodyMaterialCfg( | ||
| friction_combine_mode="multiply", | ||
| restitution_combine_mode="multiply", | ||
| static_friction=1.0, | ||
| dynamic_friction=1.0, | ||
| restitution=0.0, | ||
| ), | ||
| ) | ||
| terrain = TerrainImporterCfg( | ||
| prim_path="/World/ground", | ||
| terrain_type="plane", | ||
| collision_group=-1, | ||
| physics_material=sim_utils.RigidBodyMaterialCfg( | ||
| friction_combine_mode="multiply", | ||
| restitution_combine_mode="multiply", | ||
| static_friction=1.0, | ||
| dynamic_friction=1.0, | ||
| restitution=0.0, | ||
| ), | ||
| debug_vis=False, | ||
| ) | ||
|
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| # scene | ||
| scene: InteractiveSceneCfg = InteractiveSceneCfg(num_envs=4096, env_spacing=4.0, replicate_physics=True) | ||
|
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| # events | ||
| events: EventCfg = EventCfg() | ||
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| # robot | ||
| robot: ArticulationCfg = ANYMAL_C_CFG.replace(prim_path="/World/envs/env_.*/Robot") | ||
| contact_sensor: ContactSensorCfg = ContactSensorCfg( | ||
| prim_path="/World/envs/env_.*/Robot/.*", history_length=3, update_period=0.005, track_air_time=True | ||
| ) | ||
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| # reward scales | ||
| lin_vel_reward_scale = 1.0 | ||
| yaw_rate_reward_scale = 0.5 | ||
| z_vel_reward_scale = -2.0 | ||
| ang_vel_reward_scale = -0.05 | ||
| joint_torque_reward_scale = -2.5e-5 | ||
| joint_accel_reward_scale = -2.5e-7 | ||
| action_rate_reward_scale = -0.01 | ||
| feet_air_time_reward_scale = 0.5 | ||
| undersired_contact_reward_scale = -1.0 | ||
| flat_orientation_reward_scale = -5.0 | ||
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| @configclass | ||
| class AnymalCRoughEnvCfg(AnymalCFlatEnvCfg): | ||
| # env | ||
| observation_space = 235 | ||
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| terrain = TerrainImporterCfg( | ||
| prim_path="/World/ground", | ||
| terrain_type="generator", | ||
| terrain_generator=ROUGH_TERRAINS_CFG, | ||
| max_init_terrain_level=9, | ||
| collision_group=-1, | ||
| physics_material=sim_utils.RigidBodyMaterialCfg( | ||
| friction_combine_mode="multiply", | ||
| restitution_combine_mode="multiply", | ||
| static_friction=1.0, | ||
| dynamic_friction=1.0, | ||
| ), | ||
| visual_material=sim_utils.MdlFileCfg( | ||
| mdl_path="{NVIDIA_NUCLEUS_DIR}/Materials/Base/Architecture/Shingles_01.mdl", | ||
| project_uvw=True, | ||
| ), | ||
| debug_vis=False, | ||
| ) | ||
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| # we add a height scanner for perceptive locomotion | ||
| height_scanner = RayCasterCfg( | ||
| prim_path="/World/envs/env_.*/Robot/base", | ||
| offset=RayCasterCfg.OffsetCfg(pos=(0.0, 0.0, 20.0)), | ||
| attach_yaw_only=True, | ||
| pattern_cfg=patterns.GridPatternCfg(resolution=0.1, size=[1.6, 1.0]), | ||
| debug_vis=False, | ||
| mesh_prim_paths=["/World/ground"], | ||
| ) | ||
|
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| # reward scales (override from flat config) | ||
| flat_orientation_reward_scale = 0.0 |
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