From d0eaf2e7f1e1e901d62e780392ca77843c08eb2c Mon Sep 17 00:00:00 2001
From: "Jason Liu (Simulation Technology)" <jasonliu@nvidia.com>
Date: Wed, 24 Aug 2022 11:19:18 -0700
Subject: [PATCH] Update Shadow Hand OpenAI Configs

---
 omniisaacgymenvs/cfg/task/ShadowHandOpenAI_FF.yaml     | 4 ++--
 omniisaacgymenvs/cfg/train/ShadowHandOpenAI_FFPPO.yaml | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/omniisaacgymenvs/cfg/task/ShadowHandOpenAI_FF.yaml b/omniisaacgymenvs/cfg/task/ShadowHandOpenAI_FF.yaml
index cd62119..a64267a 100644
--- 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
index 81f8f71..8db0761 100644
--- 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