[Question] Actor Goes Wild Like Popcorn When Randomly Resetting Poes with Pitch and Yaw

[H-Hisamichi]

Hello everyone,

I added posture randomization to the reinforcement learning of Hexapod, and the actor goes wild like popcorn.
Pitch and yaw are sampled from (-3.14, 3.14).
I tried four patterns: default posture, pitch only, yaw only, and both pitch and yaw applied. (Motion stopped for verification)

1. default pose (Y-up)

default_pose.mp4

2. add pitch

add_pitch.mp4

3. add yaw

add_yaw.mp4

4. add pitch and yaw

add_pitch_and_yaw.mp4

Is this a bug?
Thank you!

OS: Ubuntu 22.04.5
Isaac Sim: 2.5.0
Isaac Lab: 2.0.2
GPU: RTX A4000

[RandomOakForest]

Thank you for posting this. Could you share your code that implements the randomization?

[H-Hisamichi]

Hello @RandomOakForest,

Thank you for your reply.
The main code used is as follows:

1. rollopod.py (Using ROLLOPOD_B_ROLLING_CFG)

# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

"""Configuration for the Mujoco Ant robot."""

from __future__ import annotations

import isaaclab.sim as sim_utils
from isaaclab.actuators import ActuatorNetMLPCfg, DCMotorCfg, ImplicitActuatorCfg, ActuatorNetLSTMCfg
from isaaclab.assets import ArticulationCfg
from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR

##
# Configuration - Actuators.
##

ANYDRIVE_3_LSTM_ACTUATOR_CFG = ActuatorNetLSTMCfg(
    joint_names_expr=[".*"],
    network_file=f"{ISAACLAB_NUCLEUS_DIR}/ActuatorNets/ANYbotics/anydrive_3_lstm_jit.pt",
    saturation_effort=120.0,
    effort_limit=80.0,
    velocity_limit=7.5,
)
"""Configuration for ANYdrive 3.0 (used on ANYmal-C) with LSTM actuator model."""

##
# Configuration
##

ROLLOPOD_B_ROLLING_CFG = ArticulationCfg(
    prim_path="{ENV_REGEX_NS}/Robot",
    spawn=sim_utils.UsdFileCfg(
        usd_path="/home/robot/hisamichi/IsaacSim/rollopod_b_simplification_v27.usd",
        activate_contact_sensors=True,
        rigid_props=sim_utils.RigidBodyPropertiesCfg(
            disable_gravity=False,
            max_depenetration_velocity=10.0,
            enable_gyroscopic_forces=True,
        ),
        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
            enabled_self_collisions=True,
            solver_position_iteration_count=4,
            solver_velocity_iteration_count=0,
            #sleep_threshold=0.005,
            stabilization_threshold=0.001,
        ),
        copy_from_source=False,
    ),
    init_state=ArticulationCfg.InitialStateCfg(
        pos=(0.0, 0.0, 0.45),
        rot=(0.7071, -0.7071, 0.0, 0.0),
        joint_pos={
            ".*": 0.0,
        },
    ),
    actuators={
        "body": ImplicitActuatorCfg(
            joint_names_expr=[".*"],
            stiffness=None,
            damping=None,
        ),
    },
)

ROLLOPOD_B_WALKING_CFG = ArticulationCfg(
    prim_path="{ENV_REGEX_NS}/Robot",
    spawn=sim_utils.UsdFileCfg(
        #usd_path="/home/robot/hisamichi/IsaacSim/rollopod_b_simplification_v26_quadruped.usd",
        usd_path="/home/robot/hisamichi/IsaacSim/rollopod_b_simplification_v27.usd",
        activate_contact_sensors=True,
        rigid_props=sim_utils.RigidBodyPropertiesCfg(
            disable_gravity=False,
            max_depenetration_velocity=10.0,
            enable_gyroscopic_forces=True,
        ),
        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
            enabled_self_collisions=True,
            solver_position_iteration_count=4,
            solver_velocity_iteration_count=0,
            #sleep_threshold=0.005,
            stabilization_threshold=0.001,
        ),
        copy_from_source=False,
    ),
    init_state=ArticulationCfg.InitialStateCfg(
        pos=(0.0, 0.0, 0.65),
        #rot=(0.7071, -0.7071, 0.0, 0.0),
        joint_pos={
            "Leg1_RevoluteJoint1":0.0, "Leg2_RevoluteJoint1":0.0, "Leg3_RevoluteJoint1":0.0, "Leg4_RevoluteJoint1":0.0, "Leg5_RevoluteJoint1":0.0, "Leg6_RevoluteJoint1":0.0,
            "Leg1_RevoluteJoint2":2.01, "Leg2_RevoluteJoint2":2.01, "Leg3_RevoluteJoint2":2.01, "Leg4_RevoluteJoint2":2.01, "Leg5_RevoluteJoint2":2.01, "Leg6_RevoluteJoint2":2.01,
            "Leg1_RevoluteJoint3":-2.495, "Leg2_RevoluteJoint3":-2.495, "Leg3_RevoluteJoint3":-2.495, "Leg4_RevoluteJoint3":-2.495, "Leg5_RevoluteJoint3":-2.495, "Leg6_RevoluteJoint3":-2.495
        }, # def: 0.0, 1.71, -2.195
    ),
    actuators={
        "body": ImplicitActuatorCfg(
            joint_names_expr=[".*"],
            stiffness=None,
            damping=None,
        ),
    },
)
"""Configuration for the Mujoco Ant robot."""

ROLLOPOD_B_ROLLING_CFG_V2 = ArticulationCfg(
    spawn=sim_utils.UsdFileCfg(
        usd_path=f"/home/robot/hisamichi/IsaacSim/rollopod_b_simplification_v26.usd",
        activate_contact_sensors=True,
        rigid_props=sim_utils.RigidBodyPropertiesCfg(
            disable_gravity=False,
            retain_accelerations=False,
            linear_damping=0.0,
            angular_damping=0.0,
            max_linear_velocity=1000.0,
            max_angular_velocity=1000.0,
            max_depenetration_velocity=1.0,
        ),
        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
            enabled_self_collisions=False, solver_position_iteration_count=4, solver_velocity_iteration_count=0
        ),
    ),
    init_state=ArticulationCfg.InitialStateCfg(
        pos=(0.0, 0.0, 0.45),
        rot=(0.7071, -0.7071, 0.0, 0.0),
        joint_pos={
            ".*": 0.0,
        },
        joint_vel={".*": 0.0},
    ),
    #soft_joint_pos_limit_factor=0.9,
    actuators={
        "base_legs": DCMotorCfg(
            joint_names_expr=[".*"],
            effort_limit=40, # 23.5
            saturation_effort=40, # 23.5
            velocity_limit=30.0,
            stiffness=None,
            damping=None,
            friction=0.0,
        ),
    },
)

ROLLOPOD_B_ROLLING_CFG_V3 = ArticulationCfg(
    spawn=sim_utils.UsdFileCfg(
        usd_path=f"/home/robot/hisamichi/IsaacSim/rollopod_b_simplification_v26.usd",
        activate_contact_sensors=True,
        rigid_props=sim_utils.RigidBodyPropertiesCfg(
            disable_gravity=False,
            retain_accelerations=False,
            linear_damping=0.0,
            angular_damping=0.0,
            max_linear_velocity=1000.0,
            max_angular_velocity=1000.0,
            max_depenetration_velocity=1.0,
        ),
        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
            enabled_self_collisions=True, solver_position_iteration_count=4, solver_velocity_iteration_count=0
        ),
        # collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.02, rest_offset=0.0),
    ),
    init_state=ArticulationCfg.InitialStateCfg(
        pos=(0.0, 0.0, 0.45),
        rot=(0.7071, -0.7071, 0.0, 0.0),
        joint_pos={
            ".*": 0.0,
        },
    ),
    actuators={"legs": ANYDRIVE_3_LSTM_ACTUATOR_CFG},
    #soft_joint_pos_limit_factor=0.95,
)
"""Configuration of ANYmal-C robot using actuator-net."""

2. rollopod_velocity_env_cfg.py

# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

import math
from dataclasses import MISSING

import isaaclab.sim as sim_utils
from isaaclab.assets import ArticulationCfg, AssetBaseCfg
from isaaclab.envs import ManagerBasedRLEnvCfg
from isaaclab.managers import CurriculumTermCfg as CurrTerm
from isaaclab.managers import EventTermCfg as EventTerm
from isaaclab.managers import ObservationGroupCfg as ObsGroup
from isaaclab.managers import ObservationTermCfg as ObsTerm
from isaaclab.managers import RewardTermCfg as RewTerm
from isaaclab.managers import SceneEntityCfg
from isaaclab.managers import TerminationTermCfg as DoneTerm
from isaaclab.scene import InteractiveSceneCfg
from isaaclab.sensors import ContactSensorCfg, RayCasterCfg, patterns
from isaaclab.terrains import TerrainImporterCfg
from isaaclab.utils import configclass
from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
from isaaclab.utils.noise import AdditiveUniformNoiseCfg as Unoise
from isaaclab.managers.recorder_manager import RecorderManagerBaseCfg

import isaaclab_tasks.manager_based.locomotion.velocity.mdp as mdp

##
# Pre-defined configs
##
#from isaaclab.terrains.config.rough import ROUGH_TERRAINS_CFG  # isort: skip
from isaaclab.terrains.config.rollopod_rough_v1 import ROUGH_TERRAINS_CFG  # isort: skip


##
# Scene definition
##


@configclass
class MySceneCfg(InteractiveSceneCfg):
    """Configuration for the terrain scene with a legged robot."""

    # ground terrain
    terrain = TerrainImporterCfg(
        prim_path="/World/ground",
        terrain_type="generator",
        terrain_generator=ROUGH_TERRAINS_CFG,
        max_init_terrain_level=5,
        collision_group=-1,
        physics_material=sim_utils.RigidBodyMaterialCfg(
            friction_combine_mode="multiply",
            restitution_combine_mode="multiply",
            static_friction=1.0,
            dynamic_friction=1.0,
        ),
        visual_material=sim_utils.MdlFileCfg(
            mdl_path=f"{ISAACLAB_NUCLEUS_DIR}/Materials/TilesMarbleSpiderWhiteBrickBondHoned/TilesMarbleSpiderWhiteBrickBondHoned.mdl",
            project_uvw=True,
            texture_scale=(0.25, 0.25),
        ),
        debug_vis=False,
    )
    # robots
    robot: ArticulationCfg = MISSING
    # sensors
    height_scanner = RayCasterCfg(
        #prim_path="{ENV_REGEX_NS}/Robot/base",
        prim_path="{ENV_REGEX_NS}/Robot/MainBody",
        offset=RayCasterCfg.OffsetCfg(pos=(0.0, 0.0, 20.0)),
        attach_yaw_only=True,
        pattern_cfg=patterns.GridPatternCfg(resolution=0.1, size=[0.5, 0.5]),
        debug_vis=False,
        mesh_prim_paths=["/World/ground"],
    )
    contact_forces = ContactSensorCfg(prim_path="{ENV_REGEX_NS}/Robot/.*", history_length=3, track_air_time=True)
    # lights
    sky_light = AssetBaseCfg(
        prim_path="/World/skyLight",
        spawn=sim_utils.DomeLightCfg(
            intensity=750.0,
            texture_file=f"{ISAAC_NUCLEUS_DIR}/Materials/Textures/Skies/PolyHaven/kloofendal_43d_clear_puresky_4k.hdr",
        ),
    )


##
# MDP settings
##


@configclass
class CommandsCfg:
    """Command specifications for the MDP."""

    #base_velocity = mdp.UniformVelocityCommandCfg(
    base_velocity = mdp.CamberAngleANDRollingVelocityCommandCfg(
    #base_velocity = mdp.XYDirectionBasedVelocityCommandCfg(
        asset_name="robot",
        resampling_time_range=(10.0, 10.0),
        rel_standing_envs=0.02,
        #rel_heading_envs=1.0,
        #heading_command=False,
        #heading_control_stiffness=0.5,
        debug_vis=False,
        #ranges=mdp.UniformVelocityCommandCfg.Ranges(
        ranges=mdp.CamberAngleANDRollingVelocityCommandCfg.Ranges(
        #ranges=mdp.XYDirectionBasedVelocityCommandCfg.Ranges(
            angle_velocity=(-6.54, 6.54), camber_angle=(-1.0, 1.0), #rolling_radius=(0.35)
            #pos_x=(-3.0, 3.0), pos_y=(-3.0, 3.0)
            #lin_vel_x=(-2.7, 2.7), lin_vel_y=(-2.7, 2.7)
        ),
    )
    """
    base_velocity = mdp.UniformVelocityCommandCfg(
        asset_name="robot",
        resampling_time_range=(10.0, 10.0),
        rel_standing_envs=0.02,
        rel_heading_envs=1.0,
        heading_command=True,
        heading_control_stiffness=0.5,
        debug_vis=True,
        ranges=mdp.UniformVelocityCommandCfg.Ranges(
            lin_vel_x=(-1.0, 1.0), lin_vel_y=(-1.0, 1.0), ang_vel_z=(-1.0, 1.0), heading=(-math.pi, math.pi)
        ),
    )
    """

    #velocity_commands = ObsTerm(func=mdp.generated_commands, params={"command_name": "base_velocity"})
    #print(f"velocity_commands: {base_velocity}")


@configclass
class ActionsCfg:
    """Action specifications for the MDP."""

    #joint_pos = mdp.JointPositionActionCfg(asset_name="robot", joint_names=[".*"], scale=0.0, use_default_offset=True)
    
    joint_pos = mdp.JointPositionActionCfg(
        asset_name="robot",
        joint_names=[".*"],
        scale={
            ".*RevoluteJoint1": 0.25,
            ".*RevoluteJoint2": 0.2,
            ".*RevoluteJoint3": 0.2,
        },
        use_default_offset=True
    )
    


@configclass
class ObservationsCfg:
    """Observation specifications for the MDP."""

    @configclass
    class PolicyCfg(ObsGroup):
        """Observations for policy group."""

        # observation terms (order preserved)
        base_lin_vel = ObsTerm(func=mdp.base_com_lin_vel_w, noise=Unoise(n_min=-0.1, n_max=0.1))
        #root_lin_vel_w = ObsTerm(func=mdp.root_lin_vel_w, noise=Unoise(n_min=-0.1, n_max=0.1))
        base_ang_vel = ObsTerm(func=mdp.base_com_ang_vel, noise=Unoise(n_min=-0.2, n_max=0.2))
        #steer_ang_vel = ObsTerm(func=mdp.steer_ang_vel, noise=Unoise(n_min=-0.01, n_max=0.01))
        projected_gravity = ObsTerm(
            func=mdp.projected_gravity,
            noise=Unoise(n_min=-0.05, n_max=0.05),
        )
        velocity_commands = ObsTerm(func=mdp.generated_commands, params={"command_name": "base_velocity"})
        joint_pos = ObsTerm(func=mdp.joint_pos_rel, noise=Unoise(n_min=-0.01, n_max=0.01))
        joint_vel = ObsTerm(func=mdp.joint_vel_rel, noise=Unoise(n_min=-1.0, n_max=1.0))
        #joint_torques = ObsTerm(func=mdp.joint_torques, noise=Unoise(n_min=-0.3, n_max=0.3))
        actions = ObsTerm(func=mdp.last_action)
        #height_scan = ObsTerm(
        #    func=mdp.height_scan,
        #    params={"sensor_cfg": SceneEntityCfg("height_scanner")},
        #    noise=Unoise(n_min=-0.1, n_max=0.1),
        #    clip=(-1.0, 1.0),
        #)
        #contact_forces = ObsTerm(
        #    func=mdp.contact_forces,
        #    params={"sensor_cfg": SceneEntityCfg("contact_forces", body_names="Leg.*_OuterShell")},
        #    noise=Unoise(n_min=-0.1, n_max=0.1),
        #)

        def __post_init__(self):
            self.enable_corruption = True
            self.concatenate_terms = True

    # observation groups
    policy: PolicyCfg = PolicyCfg()


@configclass
class EventCfg:
    """Configuration for events."""

    # startup
    physics_material = EventTerm(
        func=mdp.randomize_rigid_body_material,
        mode="startup",
        params={
            "asset_cfg": SceneEntityCfg("robot", body_names=".*"),
            "static_friction_range": (0.7, 0.9),#(0.8, 0.8),
            "dynamic_friction_range": (0.6, 0.9),#(0.6, 0.6),
            "restitution_range": (0.0, 0.0),
            "num_buckets": 64,
            "make_consistent": True
        },
    )

    add_base_mass = EventTerm(
        func=mdp.randomize_rigid_body_mass,
        mode="startup",
        params={
            #"asset_cfg": SceneEntityCfg("robot", body_names="base"),
            "asset_cfg": SceneEntityCfg("robot", body_names="MainBody"),
            "mass_distribution_params": (-3.0, 5.0),
            "operation": "add",
        },
    )

    # reset
    base_external_force_torque = EventTerm(
        func=mdp.apply_external_force_torque,
        mode="reset",
        params={
            #"asset_cfg": SceneEntityCfg("robot", body_names="base"),
            "asset_cfg": SceneEntityCfg("robot", body_names="MainBody"),
            "force_range": (0.0, 0.0),
            "torque_range": (-0.0, 0.0),
        },
    )

    reset_base = EventTerm(
        func=mdp.reset_root_state_uniform,
        mode="reset",
        params={
            "pose_range": {"pitch": (-3.14, 3.14), "yaw": (-3.14, 3.14)}, # def: (-3.14, 3.14)
            "velocity_range": {
                "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",
        params={
            "position_range": (0.0, 0.0),
            "velocity_range": (0.0, 0.0),
        },
    )

    # interval
    push_robot = EventTerm(
        func=mdp.push_by_setting_velocity,
        mode="interval",
        interval_range_s=(10.0, 15.0),
        params={"velocity_range": {"yaw": (-0.5, 0.5)}},
    )

    #reset_gravity = EventTerm(
    #    func=mdp.randomize_physics_scene_gravity,
    #    mode="interval",
    #    is_global_time=True,
    #    interval_range_s=(36.0, 36.0),  # time_s = num_steps * (decimation * dt)
    #    params={
    #        "gravity_distribution_params": ([0.0, 0.0, -9.81], [0.0, 0.0, -1.0]),
    #        "operation": "add",
    #        "distribution": "uniform",
    #    },
    #)



@configclass
class RewardsCfg:
    """Reward terms for the MDP."""

    # -- task
    #track_lin_vel_w_xy_exp = RewTerm(
    #    func=mdp.track_lin_vel_w_xy_exp, weight=3.0, params={"command_name": "base_velocity", "std": math.sqrt(2.0)}
    #)
    #track_lin_vel_w_xy_exp_fine_grained = RewTerm(
    #    func=mdp.track_lin_vel_w_xy_exp, weight=4.0, params={"command_name": "base_velocity", "std": math.sqrt(0.2)}
    #)
    #rolling_ang_vel_exp = RewTerm(
    #    func=mdp.rolling_ang_vel_exp, weight=10.0, params={"command_name": "base_velocity", "std": math.sqrt(2.0), "rolling_radius": 0.43}
    #)
    #rolling_ang_vel_exp_fine_grained = RewTerm(
    #    func=mdp.rolling_ang_vel_exp, weight=10.0, params={"command_name": "base_velocity", "std": math.sqrt(0.2), "rolling_radius": 0.43}
    #)

    steer_ang_vel_exp = RewTerm(
        func=mdp.steer_ang_vel_exp_2d, weight=0.5, params={"command_name": "base_velocity", "std": math.sqrt(2.0)}
    )
    steer_ang_vel_exp_fine_grained = RewTerm(
        func=mdp.steer_ang_vel_exp_2d, weight=0.5, params={"command_name": "base_velocity", "std": math.sqrt(0.2)}
    )
    track_com_ang_vel_z_exp = RewTerm(
        func=mdp.track_com_ang_vel_z_exp, weight=2.5, params={"command_name": "base_velocity", "std": math.sqrt(2.0)}
    )
    track_com_ang_vel_z_exp_fine_grained = RewTerm(
        func=mdp.track_com_ang_vel_z_exp, weight=3.0, params={"command_name": "base_velocity", "std": math.sqrt(0.2)}
    )
    
    #lin_vel_recommended = RewTerm(
    #    func=mdp.lin_vel_xy_recommended, weight=1.0, params={"command_name": "base_velocity"}
    #)
    #track_lin_vel_xy_exp = RewTerm(
    #    func=mdp.track_lin_vel_xy_norm_exp, weight=0.0, params={"command_name": "base_velocity", "std": math.sqrt(0.25), "rolling_radius": 0.43}
    #)
    # -- penalties
    #lin_vel_z_l2 = RewTerm(func=mdp.lin_vel_z_l2, weight=0.0)
    lin_vel_w_z_l2 = RewTerm(func=mdp.lin_vel_w_z_l2, weight=-4.0)
    #ang_vel_xy_l2 = RewTerm(func=mdp.ang_vel_xy_l2, weight=0.0)
    dof_torques_l2 = RewTerm(func=mdp.joint_torques_l2, weight=-1.2e-5)
    dof_acc_l2 = RewTerm(func=mdp.joint_acc_l2, weight=-4.0e-7)
    action_rate_l2 = RewTerm(func=mdp.action_rate_l2, weight=-0.005)
    #feet_air_time = RewTerm(
    #    func=mdp.feet_air_time,
    #    weight=0.125,
    #    params={
    #        #"sensor_cfg": SceneEntityCfg("contact_forces", body_names=".*FOOT"),
    #        "sensor_cfg": SceneEntityCfg("contact_forces", body_names=".*Toes"),
    #        "command_name": "base_velocity",
    #        "threshold": 0.5,
    #    },
    #)
    #undesired_contacts = RewTerm(
    #    func=mdp.undesired_contacts,
    #    weight=-1.0,
        #params={"sensor_cfg": SceneEntityCfg("contact_forces", body_names=".*THIGH"), "threshold": 1.0},
    #    params={"sensor_cfg": SceneEntityCfg("contact_forces", body_names="Leg.*Arm2"), "threshold": 1.0},
    #)
    # -- optional penalties
    flat_z_orientation_l2 = RewTerm(func=mdp.flat_z_orientation_l2, weight=-4.0)
    shake_rolling_penalty = RewTerm(
        func=mdp.shake_rolling_penalty, weight=-0.5, params={"command_name": "base_velocity", "scale": 0.5}
    )
    rolling_slip_penalty = RewTerm(
        func=mdp.rolling_slip_penalty_v2, weight=-0.2, params={ "scale": 0.6, "rolling_radius": 0.43}
    )
    dof_pos_limits = RewTerm(func=mdp.joint_pos_limits, weight=0.0)


@configclass
class TerminationsCfg:
    """Termination terms for the MDP."""

    time_out = DoneTerm(func=mdp.time_out, time_out=True)
    base_contact = DoneTerm(
        func=mdp.illegal_contact,
        #params={"sensor_cfg": SceneEntityCfg("contact_forces", body_names="base"), "threshold": 1.0},
        params={"sensor_cfg": SceneEntityCfg("contact_forces", body_names="MainBody"), "threshold": 1.0},
    )


@configclass
class CurriculumCfg:
    """Curriculum terms for the MDP."""

    terrain_levels = CurrTerm(func=mdp.terrain_levels_vel)

@configclass
class RecordersCfg(RecorderManagerBaseCfg):
    """Recorders terms for the MDP."""
    dataset_export_dir_path = "/home/robot/IsaacLab_v2.0.2/IsaacLab/logs/recorder_log"
    dataset_filename = "command_debug_recorder"
    #post_step_JointTorques = mdp.PostStepStatesANDJointTorquesRecorderCfg()
    post_step_JointTorques = mdp.PreStepFlatPolicyObservationsRecorderCfg()
##
# Environment configuration
##


@configclass
class LocomotionVelocityRoughEnvCfg(ManagerBasedRLEnvCfg):
    """Configuration for the locomotion velocity-tracking environment."""

    # Scene settings
    scene: MySceneCfg = MySceneCfg(num_envs=4096, env_spacing=2.5)
    # Basic settings
    observations: ObservationsCfg = ObservationsCfg()
    actions: ActionsCfg = ActionsCfg()
    commands: CommandsCfg = CommandsCfg()
    # MDP settings
    rewards: RewardsCfg = RewardsCfg()
    terminations: TerminationsCfg = TerminationsCfg()
    events: EventCfg = EventCfg()
    curriculum: CurriculumCfg = CurriculumCfg()
    #recorders: RecordersCfg = RecordersCfg()

    def __post_init__(self):
        """Post initialization."""
        # general settings
        self.decimation = 4
        self.episode_length_s = 20.0
        # simulation settings
        self.sim.dt = 0.005
        self.sim.render_interval = self.decimation
        self.sim.physics_material = self.scene.terrain.physics_material
        self.sim.physx.gpu_max_rigid_patch_count = 10 * 2**15
        # update sensor update periods
        # we tick all the sensors based on the smallest update period (physics update period)
        if self.scene.height_scanner is not None:
            self.scene.height_scanner.update_period = self.decimation * self.sim.dt
        if self.scene.contact_forces is not None:
            self.scene.contact_forces.update_period = self.sim.dt

        # check if terrain levels curriculum is enabled - if so, enable curriculum for terrain generator
        # this generates terrains with increasing difficulty and is useful for training
        if getattr(self.curriculum, "terrain_levels", None) is not None:
            if self.scene.terrain.terrain_generator is not None:
                self.scene.terrain.terrain_generator.curriculum = True
        else:
            if self.scene.terrain.terrain_generator is not None:
                self.scene.terrain.terrain_generator.curriculum = False

The robot's USD is in the state shown in Figure 1. This is rotated 90 degrees and spawned using rollopod.py. From this state, the pitch and yaw are randomized in rollopod_velocity_env_cfg.py.
Fig.1:

If needed, I can provide the entire Isaac Lab code.

Best regards.

[RandomOakForest]

Thank you for following up. Have you made any inroads on your side? I'll move this post to our Discussions for follow up.

[H-Hisamichi]

Hello @RandomOakForest,

No particular progress to report, but I cleaned up the code since it was a bit messy.
The code related to robot pose randomization can be found in rough_rolling_env_cfg.py and rollopod.py.

OS: Ubuntu 22.04.5
Isaac Sim: v2.5.0
Isaac Lab: v2.2.0
GPU: RTX A4000