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[train] 增强Sim2Real训练随机化配置

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This commit is contained in:
eastzio
2026-07-27 12:39:27 +08:00
parent b08956aec7
commit 60f7a08e91
6 changed files with 43 additions and 11 deletions
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05_software/train/rc_mjlab/README.md
+1 -1
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@@ -2,7 +2,7 @@
基于 [mjlab](https://github.com/google-deepmind/mjlab) 框架的四轮腿混合机器人强化学习训练与部署部署项目，面向机器人竞赛场景（如越障、匍匐、斜坡、台阶等复合任务）。
> 本目录对应 `v0.4.0`：第一份完整的新 MJCF 与新框架训练工程。该快照包含 `model_rough.pt`；未包含独立 `mujoco_sim` 工具和单独的 Crawl 策略权重，相关早期内容仍可通过 `v0.3.0` 查看。
> 本目录对应 `v0.5.0`：在第一份完整的新 MJCF 与新框架训练工程上，扩大观测噪声、动作延迟和动力学随机化范围，并加入持续外力扰动。该快照包含 `model_rough.pt`；未包含独立 `mujoco_sim` 工具和单独的 Crawl 策略权重，相关早期内容仍可通过 `v0.3.0` 查看。
---
05_software/train/rc_mjlab/src/robot/config/env_cfgs.py
+25 -7
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@@ -153,7 +153,7 @@ def _make_base_env_cfg() -> ManagerBasedRlEnvCfg:
),
"projected_gravity": ObservationTermCfg(
func=velocity_mdp.projected_gravity,
noise=Unoise(n_min=-0.05, n_max=0.05),
noise=Unoise(n_min=-0.08, n_max=0.08),
),
"command": ObservationTermCfg(
func=velocity_mdp.generated_commands,
@@ -212,13 +212,13 @@ def _make_base_env_cfg() -> ManagerBasedRlEnvCfg:
actuator_names=(".*_hip_abduction_joint", ".*_hip_pitch_joint", ".*_knee_joint"),
scale={".*_hip_abduction_joint": 0.125, "^(?!.*_hip_abduction_joint).*": 0.25}, use_default_offset=True,
control_frequency=50.0, cut_off_frequency=5.0,
min_delay=0, max_delay=2,
min_delay=0, max_delay=4,
),
"wheel_joint_vel": JointVelocityDelayedLowPassActionCfg(
entity_name="robot", actuator_names=(".*_wheel_joint",),
scale=5.0, offset=0.0, use_default_offset=False,
control_frequency=50.0, cut_off_frequency=15.0,
min_delay=0, max_delay=2,
min_delay=0, max_delay=4,
),
}
@@ -262,20 +262,20 @@ def _make_base_env_cfg() -> ManagerBasedRlEnvCfg:
),
"base_com": EventTermCfg(
func=envs_dr.body_com_offset, mode="startup",
params={"asset_cfg": SceneEntityCfg("robot", body_names=("base_link",)),
params={"asset_cfg": SceneEntityCfg("robot", body_names=(".*",)),
"operation": "add", "ranges": {0: (-0.05, 0.05), 1: (-0.05, 0.05), 2: (-0.05, 0.05)}},
),
"body_friction": EventTermCfg(
func=envs_dr.geom_friction, mode="startup",
params={"asset_cfg": SceneEntityCfg("robot", geom_names=(".*",)), "operation": "abs", "ranges": (0.3, 1.0)},
params={"asset_cfg": SceneEntityCfg("robot", geom_names=(".*",)), "operation": "abs", "ranges": (0.15, 1.25)},
),
"actuator_stiffness": EventTermCfg(
func=envs_dr.joint_stiffness, mode="startup",
params={"asset_cfg": SceneEntityCfg("robot"), "ranges": (0.9, 1.1), "operation": "scale", "distribution": "log_uniform"},
params={"asset_cfg": SceneEntityCfg("robot"), "ranges": (0.5, 1.5), "operation": "scale", "distribution": "log_uniform"},
),
"actuator_damping": EventTermCfg(
func=envs_dr.joint_damping, mode="startup",
params={"asset_cfg": SceneEntityCfg("robot"), "ranges": (0.9, 1.1), "operation": "scale", "distribution": "log_uniform"},
params={"asset_cfg": SceneEntityCfg("robot"), "ranges": (0.5, 1.5), "operation": "scale", "distribution": "log_uniform"},
),
"body_mass_base": EventTermCfg(
func=envs_dr.body_mass, mode="startup",
@@ -285,6 +285,24 @@ def _make_base_env_cfg() -> ManagerBasedRlEnvCfg:
"ranges": (-1.0, 3.0),
},
),
"body_mass_limbs": EventTermCfg(
func=envs_dr.body_mass, mode="startup",
params={
"asset_cfg": SceneEntityCfg("robot", body_names=(".*_knee_.*", ".*_wheel_.*")),
"operation": "scale",
"ranges": (0.7, 1.3),
},
),
"apply_continuous_disturbance": EventTermCfg(
func=apply_continuous_disturbance, mode="step",
params={
"asset_cfg": SceneEntityCfg("robot", body_names=("base_link",)),
"force_range": (-10.0, 10.0),
"torque_range": (-10.0, 10.0),
"resample_time_range": (5.0, 10.0),
"time_constant": 1.0,
},
),
}
# ------------------