Add minimal rough environment - #109
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Allows to configure a minimal magnitude per axis, so very small velocities are not over represented. Additionally, forward envs are replaced by straight envs, same logic but both directions
- Fixed gate logic overrepressenting the band edges. Actual resample now - Separate low vel vs normal band - Ability to configure probability of being inside the low/high vel bands - Renamed to DualBandVelocityCommand
Replaces the default with all kinds of terrains with the tested pebbles, random spread and stairs curriculum + adapted rewards better suited for rough low vel
Also change the order of envs so they are group by type
Needed to avoid slight penetration (only visible when using actual geometries as ground) with some feet configurations
Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
OscarMrZ
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September 7, 2026 14:12
Minimal changes needed for good enough performance
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September 7, 2026 15:23
saikishor
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Sep 8, 2026
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| task_id="Mjlab-Velocity-Rough-Pal-Kangaroo-Lower-Body", | ||
| env_cfg=pal_kangaroo_lower_body_rough_env_cfg(), | ||
| play_env_cfg=pal_kangaroo_lower_body_rough_env_cfg(play=True), | ||
| rl_cfg=pal_kangaroo_ppo_runner_cfg(), | ||
| runner_cls=VelocityOnPolicyRunner, | ||
| ) | ||
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| register_mjlab_task( | ||
| task_id="Mjlab-Velocity-Rough-Pal-Kangaroo-Hands", | ||
| env_cfg=pal_kangaroo_hands_rough_env_cfg(), | ||
| play_env_cfg=pal_kangaroo_hands_rough_env_cfg(play=True), | ||
| rl_cfg=pal_kangaroo_ppo_runner_cfg(), | ||
| runner_cls=VelocityOnPolicyRunner, | ||
| ) | ||
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| register_mjlab_task( | ||
| task_id="Mjlab-Velocity-Rough-Pal-Kangaroo-Grippers", | ||
| env_cfg=pal_kangaroo_grippers_rough_env_cfg(), | ||
| play_env_cfg=pal_kangaroo_grippers_rough_env_cfg(play=True), | ||
| rl_cfg=pal_kangaroo_ppo_runner_cfg(), | ||
| runner_cls=VelocityOnPolicyRunner, | ||
| ) |
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Shall we comment them out, until we figure something out for the 4DoF variant
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yes, I think that would be better
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| "x": (-0.05, 0.05), | ||
| "y": (-0.05, 0.05), |
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That small, can't we increase it o 20 cms?
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Yes, it was a leftover from earlier experiments.
Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
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I have applied your suggestions @saikishor, with two additional changes:
Now with std = sqrt(0.1) 
Before with std = sqrt(0.0225) 
|
Member
Double agreed
I think it is a wise choice |
saikishor
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Sep 8, 2026
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Rest LGTM. Please also update the release notes.
Thank you
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| # pal_kangaroo_grippers_rough_env_cfg, | ||
| pal_kangaroo_hands_flat_env_cfg, | ||
| pal_kangaroo_hands_rough_env_cfg, | ||
| # pal_kangaroo_hands_rough_env_cfg, | ||
| pal_kangaroo_lower_body_flat_env_cfg, | ||
| pal_kangaroo_lower_body_rough_env_cfg, | ||
| pal_kangaroo_rough_env_cfg, | ||
| ) |
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Suggested change
| # pal_kangaroo_grippers_rough_env_cfg, | |
| pal_kangaroo_hands_flat_env_cfg, | |
| pal_kangaroo_hands_rough_env_cfg, | |
| # pal_kangaroo_hands_rough_env_cfg, | |
| pal_kangaroo_lower_body_flat_env_cfg, | |
| pal_kangaroo_lower_body_rough_env_cfg, | |
| pal_kangaroo_rough_env_cfg, | |
| ) | |
| pal_kangaroo_hands_flat_env_cfg, | |
| pal_kangaroo_lower_body_flat_env_cfg, | |
| pal_kangaroo_rough_env_cfg, | |
| pal_kangaroo_lower_body_rough_env_cfg, | |
| # pal_kangaroo_grippers_rough_env_cfg, | |
| # pal_kangaroo_hands_rough_env_cfg, | |
| ) |
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Cleans up #89 to only add the absolutely necessary terms.