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Updates BDX-R environment for rough terrain training #7

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Updates BDX-R environment for rough terrain training #7

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2 changes: 1 addition & 1 deletion source/BDXR/BDXR/tasks/bdxr_locomotion/agents/rsl_rl_ppo_cfg.py
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@
@configclass
class PPORunnerCfg(RslRlOnPolicyRunnerCfg):
num_steps_per_env = 24
max_iterations = 30_000
max_iterations = 100000
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@louislelay louislelay Oct 22, 2025

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Is 100k really needed? Could you provide a tensorboard log file of your latest training with the current env.

save_interval = 50
experiment_name = "bdxr_rough"
empirical_normalization = False
Expand Down
137 changes: 85 additions & 52 deletions source/BDXR/BDXR/tasks/bdxr_locomotion/bdxr_env_cfg.py
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Original file line number Diff line number Diff line change
Expand Up @@ -43,7 +43,7 @@

import BDXR.tasks.bdxr_locomotion.mdp as mdp # isort:skip


# Old Version
COBBLESTONE_ROAD_CFG = terrain_gen.TerrainGeneratorCfg(
size=(8.0, 8.0),
border_width=20.0,
Expand All @@ -62,6 +62,29 @@
},
)

#COBBLESTONE_ROAD_CFG = terrain_gen.TerrainGeneratorCfg(
# size=(8.0, 8.0),
# border_width=20.0,
# num_rows=9,
# num_cols=21,
# horizontal_scale=0.1,
# vertical_scale=0.002, # This is already quite low, which is good for an easier terrain
# slope_threshold=0.75,
# difficulty_range=(0.0, 1.0),
# use_cache=False,
# sub_terrains={
# # Increase the proportion of flat ground
# "flat": terrain_gen.MeshPlaneTerrainCfg(proportion=0.8),
# # Decrease the proportion of rough ground
# "random_rough": terrain_gen.HfRandomUniformTerrainCfg(
# proportion=0.2,
# noise_range=(0.02, 0.05),
# noise_step=0.02,
# border_width=0.25
# ),
# },
#)

Comment on lines +65 to +87
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@louislelay louislelay Oct 22, 2025

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do you want to cleanup comments in this PR or should we do a new one cleaning up the code/comments and adding some format testing

# TODO: Are all critics necessary (i don't think so)
# TODO: In critic we should remove all noise
# TODO: Add some scales to avoid sim instabilities
Comment on lines 88 to 90
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@louislelay louislelay Oct 22, 2025

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As it works, we can leave it as it is for now but I really think all that is non necessary and lots of critic obs should be removed/unnoised. You don't need that much imo.

Expand Down Expand Up @@ -198,25 +221,35 @@ class BDXRRewards(RewardsCfg):
#track_ang_vel_z_exp = RewTerm(
# func=mdp.track_ang_vel_z_world_exp, weight=2.5, params={"command_name": "base_velocity", "std": 0.5}
#)
base_angular_velocity = RewTerm(
func=mdp.base_angular_velocity_reward,
weight=5.0,
params={"std": 2.0, "asset_cfg": SceneEntityCfg("robot")},
)
base_linear_velocity = RewTerm(
func=mdp.base_linear_velocity_reward,
weight=5.0,
params={"std": 1.0, "ramp_rate": 0.5, "ramp_at_vel": 1.0, "asset_cfg": SceneEntityCfg("robot")},
)
base_angular_velocity = RewTerm(
func=mdp.base_angular_velocity_reward,
weight=2.5,
params={"std": 2.0, "asset_cfg": SceneEntityCfg("robot")},
)
feet_air_time = RewTerm(
func=mdp.feet_air_time_positive_biped,
weight=5.0,
weight=0.0,
params={
"command_name": "base_velocity",
"sensor_cfg": SceneEntityCfg("contact_forces", body_names=".*_Foot"),
"threshold": 0.2,
},
)
air_time = RewTerm(
func=mdp.bipedal_air_time_reward,
weight=3.0,
params={
"mode_time": 0.5,
"velocity_threshold": 0.1,
"asset_cfg": SceneEntityCfg("robot"),
"sensor_cfg": SceneEntityCfg("contact_forces", body_names=".*_Foot"),
},
)
feet_slide = RewTerm(
func=mdp.feet_slide,
weight=-0.2,
Expand All @@ -225,6 +258,15 @@ class BDXRRewards(RewardsCfg):
"asset_cfg": SceneEntityCfg("robot", body_names=".*_Foot"),
},
)
joint_pos = RewTerm(
func=mdp.joint_position_penalty,
weight=1.0, # Or -5.0 if you use the original function
params={
"asset_cfg": SceneEntityCfg("robot", joint_names=".*"),
"stand_still_scale": 20.0, # <-- Increase this value substantially
"velocity_threshold": 0.1,
},
)

# Penalize ankle joint limits
dof_pos_limits = RewTerm(
Expand All @@ -235,14 +277,35 @@ class BDXRRewards(RewardsCfg):
# Penalize deviation from default of the joints that are not essential for locomotion
joint_deviation_hip = RewTerm(
func=mdp.joint_deviation_l1,
weight=-2,
weight=-1,
params={"asset_cfg": SceneEntityCfg("robot", joint_names=[".*_Hip_Yaw", ".*_Hip_Roll"])},
)
joint_deviation_ankle = RewTerm(
func=mdp.joint_deviation_l1,
weight=-0.5,
params={"asset_cfg": SceneEntityCfg("robot", joint_names=[".*_Ankle"])},
)
#base_height_l2 = RewTerm(
# func=mdp.base_height_l2,
# weight=-1.5, # Negative weight to create a penalty
# params={"target_height": 0.3} # IMPORTANT: Set this to your robot's desired base height in meters
#)
foot_clearance = RewTerm(
func=mdp.foot_clearance_reward,
weight=5,
params={
"std": 0.05,
"tanh_mult": 2.0,
"target_height": 0.2,
"asset_cfg": SceneEntityCfg("robot", body_names=".*_Foot"),
},
)
base_motion = RewTerm(
func=mdp.base_motion_penalty, weight=-2.0, params={"asset_cfg": SceneEntityCfg("robot")}
)
base_orientation = RewTerm(
func=mdp.base_orientation_penalty, weight=-3.0, params={"asset_cfg": SceneEntityCfg("robot")}
)

# TODO: With the way it's implemented, it is not used, should we remove it or use itS
@configclass
Expand All @@ -251,7 +314,7 @@ class EventCfg:
# startup
physics_material = EventTerm(
func=mdp.randomize_rigid_body_material,
mode="reset",
mode="startup",
params={
"asset_cfg": SceneEntityCfg("robot", body_names=".*"),
"static_friction_range": (0.8, 0.8),
Expand All @@ -263,23 +326,13 @@ class EventCfg:

add_base_mass = EventTerm(
func=mdp.randomize_rigid_body_mass,
mode="reset",
mode="startup",
params={
"asset_cfg": SceneEntityCfg("robot", body_names="base"),
"mass_distribution_params": (-1.0, 1.0),
"mass_distribution_params": (-5.0, 5.0),
"operation": "add",
},
)
randomize_com_positions = EventTerm(
func=mdp.randomize_rigid_body_com,
mode="startup",
params={
"asset_cfg": SceneEntityCfg("robot", body_names=".*"),
"com_range": {"x": (-0.05, 0.05), "y": (-0.05, 0.05), "z": (-0.05, 0.05)},
},
)

# reset
base_external_force_torque = EventTerm(
func=mdp.apply_external_force_torque,
mode="reset",
Expand All @@ -289,43 +342,22 @@ class EventCfg:
"torque_range": (-0.0, 0.0),
},
)
randomize_actuator_gains = EventTerm(
func=mdp.randomize_actuator_gains,
mode="reset",
params={
"asset_cfg": SceneEntityCfg("robot", joint_names=".*"),
"operation": "scale",
"stiffness_distribution_params": (0.6, 1.4),
"damping_distribution_params": (0.6, 1.4),
},
)
randomize_joint_parameters = EventTerm(
func=mdp.randomize_joint_parameters,
mode="reset",
params={
"asset_cfg": SceneEntityCfg("robot", joint_names=".*"),
"operation": "scale",
"friction_distribution_params": (0.8, 1.2),
"armature_distribution_params": (0.8, 1.2),
},
)

reset_base = EventTerm(
func=mdp.reset_root_state_uniform,
mode="reset",
params={
"pose_range": {"x": (-0.5, 0.5), "y": (-0.5, 0.5), "yaw": (-3.14, 3.14)},
"velocity_range": {
"x": (-0.5, 0.5),
"y": (-0.5, 0.5),
"z": (-0.5, 0.5),
"roll": (-0.5, 0.5),
"pitch": (-0.5, 0.5),
"yaw": (-0.5, 0.5),
"x": (0.0, 0.0),
"y": (0.0, 0.0),
"z": (0.0, 0.0),
"roll": (0.0, 0.0),
"pitch": (0.0, 0.0),
"yaw": (0.0, 0.0),
},
},
)

#
reset_robot_joints = EventTerm(
func=mdp.reset_joints_by_scale,
mode="reset",
Expand All @@ -334,8 +366,6 @@ class EventCfg:
"velocity_range": (0.0, 0.0),
},
)

# interval
push_robot = EventTerm(
func=mdp.push_by_setting_velocity,
mode="interval",
Expand Down Expand Up @@ -371,7 +401,7 @@ def __post_init__(self):

# events
self.events.push_robot.params["velocity_range"] = {"x": (-0.1, 0.1), "y": (-0.1, 0.1)}
# self.events.push_robot = None
#self.events.push_robot = None
self.events.add_base_mass.params["asset_cfg"].body_names = ["base_link"]
self.events.add_base_mass.params["mass_distribution_params"] = (-0.5, 0.5)
self.events.reset_robot_joints.params["position_range"] = (0.8, 1.2)
Expand Down Expand Up @@ -464,4 +494,7 @@ def __post_init__(self) -> None:

# disable randomization for play
self.observations.policy.enable_corruption = False
self.commands.base_velocity.ranges.lin_vel_x = (0.3, 0.3)
self.commands.base_velocity.ranges.lin_vel_y = (0.0, 0.0)
self.commands.base_velocity.ranges.ang_vel_z = (0.0, 0.0)
# remove random pushing event
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