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[omniperf-agent] fix: PhysX KukaAllegro grasp via compliant contacts #1

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[omniperf-agent] fix: PhysX KukaAllegro grasp via compliant contacts #1

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31 changes: 6 additions & 25 deletions source/isaaclab_tasks/isaaclab_tasks/core/dexsuite/dexsuite_env_cfg.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@

from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg, NewtonCollisionPipelineCfg, NewtonShapeCfg
from isaaclab_physx.physics import PhysxCfg
from isaaclab_physx.sim.spawners.materials import PhysxRigidBodyMaterialCfg

import isaaclab.sim as sim_utils
from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg
Expand All @@ -19,7 +20,7 @@
from isaaclab.managers import TerminationTermCfg as DoneTerm
from isaaclab.markers import VisualizationMarkersCfg
from isaaclab.scene import InteractiveSceneCfg
from isaaclab.sim import MeshCapsuleCfg, MeshConeCfg, MeshCuboidCfg, MeshSphereCfg, RigidBodyMaterialCfg
from isaaclab.sim import MeshCapsuleCfg, MeshConeCfg, MeshCuboidCfg, MeshSphereCfg
from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
from isaaclab.utils.configclass import configclass
from isaaclab.utils.noise import UniformNoiseCfg as Unoise
Expand All @@ -39,7 +40,7 @@


OBJECT_PHYSICS = {
"physics_material": RigidBodyMaterialCfg(static_friction=0.5),
"physics_material": PhysxRigidBodyMaterialCfg(static_friction=0.5, compliant_contact_stiffness=300.0, compliant_contact_damping=30.0),
"collision_props": sim_utils.CollisionPropertiesCfg(contact_offset=0.002),
}

Expand Down Expand Up @@ -75,7 +76,7 @@ class ObjectCfg(PresetCfg):
)
cube = sim_utils.CuboidCfg(
size=(0.05, 0.1, 0.1),
physics_material=RigidBodyMaterialCfg(static_friction=0.5),
physics_material=PhysxRigidBodyMaterialCfg(static_friction=0.5, compliant_contact_stiffness=300.0, compliant_contact_damping=30.0),
rigid_props=sim_utils.RigidBodyPropertiesCfg(
solver_position_iteration_count=16,
solver_velocity_iteration_count=0,
Expand Down Expand Up @@ -227,29 +228,9 @@ def __post_init__(self):
class EventCfg:
"""Reset-mode events (shared by all physics backends)."""

robot_physics_material = EventTerm(
func=mdp.randomize_rigid_body_material,
mode="startup",
params={
"asset_cfg": SceneEntityCfg("robot", body_names=".*"),
"static_friction_range": [0.5, 1.0],
"dynamic_friction_range": [0.5, 1.0],
"restitution_range": [0.0, 0.0],
"num_buckets": 250,
},
)
robot_physics_material = None

object_physics_material = EventTerm(
func=mdp.randomize_rigid_body_material,
mode="startup",
params={
"asset_cfg": SceneEntityCfg("object", body_names=".*"),
"static_friction_range": [0.5, 1.0],
"dynamic_friction_range": [0.5, 1.0],
"restitution_range": [0.0, 0.0],
"num_buckets": 250,
},
)
object_physics_material = None

object_physics_inertia = EventTerm(
func=mdp.randomize_rigid_body_inertia,
Expand Down
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