Tweak njmax/nconmax

Author: kevinzakka

src/mjlab/tasks/velocity/config/g1/env_cfgs.py

@@ -26,9 +26,8 @@ def unitree_g1_rough_env_cfg(play: bool = False) -> ManagerBasedRlEnvCfg:
   """Create Unitree G1 rough terrain velocity configuration."""
   cfg = make_velocity_env_cfg()
 
-  cfg.sim.mujoco.ccd_iterations = 500
-  cfg.sim.contact_sensor_maxmatch = 500
-  cfg.sim.nconmax = 70
+  cfg.sim.njmax = 200
+  cfg.sim.nconmax = 30
 
   cfg.scene.entities = {"robot": get_g1_robot_cfg()}
 
@@ -189,10 +188,7 @@ def unitree_g1_flat_env_cfg(play: bool = False) -> ManagerBasedRlEnvCfg:
   """Create Unitree G1 flat terrain velocity configuration."""
   cfg = unitree_g1_rough_env_cfg(play=play)
 
-  cfg.sim.njmax = 300
-  cfg.sim.mujoco.ccd_iterations = 50
-  cfg.sim.contact_sensor_maxmatch = 64
-  cfg.sim.nconmax = None
+  cfg.sim.njmax = 170
 
   # Switch to flat terrain.
   assert cfg.scene.terrain is not None

src/mjlab/tasks/velocity/config/go1/env_cfgs.py

@@ -35,10 +35,11 @@ def unitree_go1_rough_env_cfg(
   """Create Unitree Go1 rough terrain velocity configuration."""
   cfg = make_velocity_env_cfg()
 
-  cfg.sim.mujoco.ccd_iterations = 500
+  cfg.sim.njmax = 100
+  cfg.sim.nconmax = 20
+
   cfg.sim.mujoco.impratio = 10
   cfg.sim.mujoco.cone = "elliptic"
-  cfg.sim.contact_sensor_maxmatch = 500
 
   cfg.scene.entities = {"robot": get_go1_robot_cfg()}
 
@@ -269,10 +270,7 @@ def unitree_go1_flat_env_cfg(play: bool = False) -> ManagerBasedRlEnvCfg:
   """Create Unitree Go1 flat terrain velocity configuration."""
   cfg = unitree_go1_rough_env_cfg(play=play)
 
-  cfg.sim.njmax = 300
-  cfg.sim.mujoco.ccd_iterations = 50
-  cfg.sim.contact_sensor_maxmatch = 64
-  cfg.sim.nconmax = None
+  cfg.sim.njmax = 50
 
   # Switch to flat terrain.
   assert cfg.scene.terrain is not None

src/mjlab/tasks/velocity/mdp/curriculums.py

@@ -47,8 +47,7 @@ def terrain_levels_vel(
   # Robots that walked far enough progress to harder terrains.
   move_up = distance > terrain_generator.size[0] / 2
 
-  # Robots that walked less than half of their required distance go to
-  # simpler terrains.
+  # Robots that walked less than half of their required distance go to simpler terrains.
   move_down = (
     distance < torch.norm(command[env_ids, :2], dim=1) * env.max_episode_length_s * 0.5
   )
@@ -64,8 +63,8 @@ def terrain_levels_vel(
     "max": torch.max(levels),
   }
 
-  # In curriculum mode num_cols == num_terrains (one column per type),
-  # so the column index directly maps to the sub-terrain name.
+  # In curriculum mode num_cols == num_terrains (one column per type), so the column
+  # index directly maps to the sub-terrain name.
   sub_terrain_names = list(terrain_generator.sub_terrains.keys())
   terrain_origins = terrain.terrain_origins
   assert terrain_origins is not None

src/mjlab/tasks/velocity/velocity_env_cfg.py

@@ -442,8 +442,6 @@ def make_velocity_env_cfg() -> ManagerBasedRlEnvCfg:
       azimuth=90.0,
     ),
     sim=SimulationCfg(
-      nconmax=35,
-      njmax=1500,
       mujoco=MujocoCfg(
         timestep=0.005,
         iterations=10,