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v0.1.16; Add StressPipeline

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wty-yy
2025-12-26 14:47:39 +08:00
parent 9d9d83ed9f
commit 65490fe591
31 changed files with 318 additions and 122 deletions
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4
robogauge/tasks/simulator/mujoco_config.py
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@@ -49,4 +49,6 @@ class MujocoConfig(Config):
class truncation:
enabled = True
projected_gravity_rad = 2.5 # [rad], if gravity projection angle exceeds this value, truncate episode
penetration_threshold = -0.05 # [m], if any contact penetration depth is below this threshold, truncate episode
penetration_threshold = -0.035 # [m], if any contact penetration depth is below this threshold, truncate episode
skip_penetration_geoms = ['wall', 'floor'] # Geometries to skip penetration check
skip_self_penetration = True # Whether to check self-penetration