IndustRealBase.yaml

# See schema in factory_schema_config_base.py for descriptions of parameters.

defaults:
    - _self_

mode:
    export_scene: False
    export_states: False

sim:
    dt: 0.016667 
    substeps: 2
    up_axis: "z"
    use_gpu_pipeline: ${eq:${...pipeline},"gpu"}
    gravity: [0.0, 0.0, -9.81]
    add_damping: True
    disable_franka_collisions: False

    physx:
        solver_type: ${....solver_type}
        num_threads: ${....num_threads}
        num_subscenes: ${....num_subscenes}
        use_gpu: ${contains:"cuda",${....sim_device}}

        num_position_iterations: 16
        num_velocity_iterations: 0
        contact_offset: 0.01
        rest_offset: 0.0
        bounce_threshold_velocity: 0.2
        max_depenetration_velocity: 5.0
        friction_offset_threshold: 0.01
        friction_correlation_distance: 0.00625

        max_gpu_contact_pairs: 6553600  # 50 * 1024 * 1024
        default_buffer_size_multiplier: 8.0
        contact_collection: 1 # 0: CC_NEVER (don't collect contact info), 1: CC_LAST_SUBSTEP (collect only contacts on last substep), 2: CC_ALL_SUBSTEPS (broken - do not use!)
    
env:
    env_spacing: 0.7
    franka_depth: 0.37  # Franka origin 37 cm behind table midpoint
    table_height: 1.04
    franka_friction: 4.0
    table_friction: 0.3