56 lines
1.7 KiB
Python
56 lines
1.7 KiB
Python
# -*- coding: utf-8 -*-
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'''
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@File : mujoco_config.py
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@Time : 2025/11/27 15:55:34
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@Author : wty-yy
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@Version : 1.0
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@Blog : https://wty-yy.github.io/
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@Desc : Mujoco Simulator Configuration
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'''
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from robogauge.utils.config import Config
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class MujocoConfig(Config):
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simulator_class = 'MujocoSimulator'
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class physics:
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simulation_dt = 0.002 # 500 Hz
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class viewer:
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headless = False
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block_rendering = True # Whether to block rendering in the viewer loop.
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camera_distance = 2.0
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camera_elevation = -20.0
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camera_azimuth = 60.0
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class render:
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save_video = False
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video_fps = 30
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width = 640
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height = 480
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# width = 1920
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# height = 1080
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class domain_rand:
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# With randomization
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action_delay = True # [0, control_dt]
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# Setup by config file, ensure evaluation coverage
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base_mass = 0.0 # [kg], {-1, 0, 1, 2, 3}
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friction = 1.0 # [N.s/m], {0.4, 0.7, 1.0, 1.3, 1.6}
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class noise:
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# Uniform noise
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enabled = True
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lin_vel = 0.05 # [m/s]
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ang_vel = 0.8 # [rad/s]
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joint_pos = 0.01 # [rad]
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joint_vel = 3.0 # [rad/s]
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class truncation:
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enabled = True
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projected_gravity_rad = 2.5 # [rad], if gravity projection angle exceeds this value, truncate episode
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penetration_threshold = -0.035 # [m], if any contact penetration depth is below this threshold, truncate episode
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skip_penetration_geoms = ['wall', 'floor'] # Geometries to skip penetration check
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skip_self_penetration = True # Whether to check self-penetration
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penetration_max_reset_num = 1 # Max number of resets due to penetration per run
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