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switch to multiply friction combine mode; add domain rand: randomize_com_positions_other.

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wertyuilife
2026-04-27 15:36:05 +08:00
parent ed50f647ac
commit 41241914a3
1 changed files with 13 additions and 5 deletions
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18
source/robot_lab/robot_lab/tasks/go2/env_cfg.py
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@@ -46,7 +46,7 @@ class Go2SceneCfg(InteractiveSceneCfg):
max_init_terrain_level=5, max_init_terrain_level=5,
collision_group=-1, collision_group=-1,
physics_material=sim_utils.RigidBodyMaterialCfg( physics_material=sim_utils.RigidBodyMaterialCfg(
friction_combine_mode="average", friction_combine_mode="multiply",
restitution_combine_mode="average", restitution_combine_mode="average",
static_friction=1.0, static_friction=1.0,
dynamic_friction=1.0, dynamic_friction=1.0,
@@ -274,6 +274,14 @@ class EventCfg:
"com_range": {"x": (-0.03, 0.03), "y": (-0.03, 0.03), "z": (-0.03, 0.03)}, "com_range": {"x": (-0.03, 0.03), "y": (-0.03, 0.03), "z": (-0.03, 0.03)},
}, },
) )
randomize_com_positions_other = EventTerm(
func=mdp.randomize_rigid_body_com,
mode="startup",
params={
"asset_cfg": SceneEntityCfg("robot", body_names="^(?!.*base).*"),
"com_range": {"x": (-0.03, 0.03), "y": (-0.03, 0.03), "z": (-0.03, 0.03)},
},
)
reset_robot_joints = EventTerm( reset_robot_joints = EventTerm(
func=mdp.reset_joints_by_scale, func=mdp.reset_joints_by_scale,
mode="reset", mode="reset",
@@ -320,8 +328,8 @@ class EventCfg:
mode="startup", mode="startup",
params={ params={
"asset_cfg": SceneEntityCfg("robot", body_names=".*"), "asset_cfg": SceneEntityCfg("robot", body_names=".*"),
"static_friction_range": (0.0, 2.0), "static_friction_range": (0.5, 1.5),
"dynamic_friction_range": (0.0, 2.0), "dynamic_friction_range": (0.5, 1.5),
"restitution_range": (0.0, 0.5), "restitution_range": (0.0, 0.5),
"num_buckets": 64, "num_buckets": 64,
"make_consistent": True "make_consistent": True
@@ -485,8 +493,8 @@ class Go2EnvCfg(ManagerBasedRLEnvCfg):
# Physics material settings from subclass # Physics material settings from subclass
self.sim.physics_material = self.scene.terrain.physics_material self.sim.physics_material = self.scene.terrain.physics_material
self.sim.physx.gpu_max_rigid_patch_count = 512 * 1024 self.sim.physx.gpu_max_rigid_patch_count = int(1 * 1024 * 1024) # 1 million
self.sim.physx.gpu_collision_stack_size = int(128 * 1024 * 1024) # 128 MB self.sim.physx.gpu_collision_stack_size = int(512 * 1024 * 1024) # 128 MB
self.sim.physx.enable_external_forces_every_iteration = True self.sim.physx.enable_external_forces_every_iteration = True
# Update sensor periods # Update sensor periods