VictorMylle/RL-Sim-Framework
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

feat: full DR (friction/damping/torque) in MJX JIT step

Browse Source
This commit is contained in:
Victor Mylle
2026-06-09 21:25:05 +02:00
parent b37cd26690
commit 56499ebe97
2 changed files with 35 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
configs/runner/mjx.yaml
View File

@@ -7,11 +7,12 @@ history_length: 10 # RMA-style: 10-step window of (obs, action) pairs
rma_mode: "none" # "none" | "teacher" | "deploy"
# ── Domain randomization (sim-to-real) ──────────────────────────────
# NOTE: action-delay and sensor-noise are applied for MJX, but the
# per-env dynamics *scales* (friction/damping/torque) are NOT yet wired
# into the JIT step — use runner=mujoco for scale randomization, or keep
# this block to delay+noise only on MJX.
# Full DR on GPU: latency + sensor noise + per-env dynamics scales
# (friction/damping/torque) are all applied inside the JIT step.
domain_rand:
qpos_noise_std: 0.01 # rad — encoder angle noise
qvel_noise_std: 0.5 # rad/s — velocity-estimate noise (measured)
action_delay_steps: [0, 2] # control-step latency (0–40 ms)
friction_scale: [0.6, 1.6] # Coulomb-friction multiplier (per env)
damping_scale: [0.6, 1.6] # viscous-damping multiplier
torque_scale: [0.85, 1.15] # motor-constant / battery-voltage variation