Ant.yaml

# used to create the object
name: Ant

physics_engine: ${..physics_engine}

# if given, will override the device setting in gym.
env: 
#  numEnvs: ${...num_envs}
  numEnvs: ${resolve_default:4096,${...num_envs}}
  envSpacing: 5
  episodeLength: 1000
  enableDebugVis: False

  clipActions: 1.0

  powerScale: 0.5
  controlFrequencyInv: 2 # 60 Hz

  # reward parameters
  headingWeight: 0.5
  upWeight: 0.1

  # cost parameters
  actionsCost: 0.005
  energyCost: 0.05
  dofVelocityScale: 0.2
  angularVelocityScale: 1.0
  contactForceScale: 0.1
  jointsAtLimitCost: 0.1
  deathCost: -2.0
  terminationHeight: 0.31
  alive_reward_scale: 0.5

sim:
  dt: 0.0083 # 1/120 s
  use_gpu_pipeline: ${eq:${...pipeline},"gpu"}
  gravity: [0.0, 0.0, -9.81]
  add_ground_plane: True
  add_distant_light: False
  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_physics_material:
    static_friction: 1.0
    dynamic_friction: 1.0
    restitution: 0.0

  physx:
    worker_thread_count: ${....num_threads}
    solver_type: ${....solver_type}
    use_gpu: ${eq:${....sim_device},"gpu"} # set to False to run on CPU
    solver_position_iteration_count: 4
    solver_velocity_iteration_count: 0
    contact_offset: 0.02
    rest_offset: 0.0
    bounce_threshold_velocity: 0.2
    friction_offset_threshold: 0.04
    friction_correlation_distance: 0.025
    enable_sleeping: True
    enable_stabilization: True
    max_depenetration_velocity: 10.0

    # GPU buffers
    gpu_max_rigid_contact_count: 524288
    gpu_max_rigid_patch_count: 81920
    gpu_found_lost_pairs_capacity: 8192
    gpu_found_lost_aggregate_pairs_capacity: 262144
    gpu_total_aggregate_pairs_capacity: 8192
    gpu_max_soft_body_contacts: 1048576
    gpu_max_particle_contacts: 1048576
    gpu_heap_capacity: 67108864
    gpu_temp_buffer_capacity: 16777216
    gpu_max_num_partitions: 8

  Ant:
    # -1 to use default values
    override_usd_defaults: False
    enable_self_collisions: False
    enable_gyroscopic_forces: True
    # also in stage params
    # per-actor
    solver_position_iteration_count: 4
    solver_velocity_iteration_count: 0
    sleep_threshold: 0.005
    stabilization_threshold: 0.001
    # per-body
    density: -1
    max_depenetration_velocity: 10.0