17 lines
902 B
YAML
17 lines
902 B
YAML
num_envs: 1024 # MJX shines with many parallel envs
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device: auto # auto = cuda if available, else cpu
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dt: 0.002
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substeps: 10
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history_length: 10 # (obs, action) window for implicit adaptation
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# ── Domain randomization (sim-to-real) ──────────────────────────────
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# Full DR on GPU: latency + sensor noise + per-env dynamics scales
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# (friction/damping/torque) are all applied inside the JIT step.
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domain_rand:
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qpos_noise_std: 0.01 # rad — encoder angle noise
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qvel_noise_std: 0.5 # rad/s — velocity-estimate noise (measured)
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action_delay_steps: [0, 2] # control-step latency (0–40 ms)
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friction_scale: [0.6, 1.6] # Coulomb-friction multiplier (per env)
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damping_scale: [0.6, 1.6] # viscous-damping multiplier
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torque_scale: [0.85, 1.15] # motor-constant / battery-voltage variation
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