Update Shadow Hand OpenAI Configs

j3soon · Aug 24, 2022 · d0eaf2e · d0eaf2e
1 parent b6e1564
commit d0eaf2e
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/omniisaacgymenvs/cfg/task/ShadowHandOpenAI_FF.yaml b/omniisaacgymenvs/cfg/task/ShadowHandOpenAI_FF.yaml
@@ -16,7 +16,7 @@ env:
   useRelativeControl: False
   dofSpeedScale: 20.0
   actionsMovingAverage: 0.3
-  controlFrequencyInv: 6 # 20 Hz
+  controlFrequencyInv: 3 #20 Hz
 
   startPositionNoise: 0.01
   startRotationNoise: 0.0
@@ -52,7 +52,7 @@ env:
 
 
 sim:
-  dt: 0.0083 # 1/120 s
+  dt: 0.016667 # 1/60 s
   add_ground_plane: True
   add_distant_light: True
   use_gpu_pipeline: ${eq:${...pipeline},"gpu"}

diff --git a/omniisaacgymenvs/cfg/train/ShadowHandOpenAI_FFPPO.yaml b/omniisaacgymenvs/cfg/train/ShadowHandOpenAI_FFPPO.yaml
@@ -72,7 +72,7 @@ params:
     bounds_loss_coef: 0.0001
 
     central_value_config:
-      minibatch_size: 16384
+      minibatch_size: 8192
       mini_epochs: 8
       learning_rate: 5e-4
       lr_schedule: adaptive