push policy

kscalelabs · Dec 6, 2024 · 462d3d8 · 462d3d8
1 parent 0507ed5
commit 462d3d8
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/examples/gpr_0.5s_small.kinfer b/examples/gpr_0.5s_small.kinfer
diff --git a/sim/sim2sim.py b/sim/sim2sim.py
@@ -166,7 +166,7 @@ def run_mujoco(
 
     count_lowlevel = 0
     force_application_interval = 1000  # Apply force every 1000 steps (1 second at 1000Hz)
-    force_magnitude_range = (-15, 15)  # Force range in Newtons
+    force_magnitude_range = (0, 0) #(-15, 15)  # Force range in Newtons
     force_duration = 100  # Duration of force application in timesteps
     force_timer = 0
 
@@ -341,7 +341,7 @@ def run_mujoco(
 
     policy_cfg = ActorCfg(embodiment=args.embodiment)
     if args.embodiment == "gpr":
-        policy_cfg.cycle_time = 0.25
+        policy_cfg.cycle_time = 0.5
         cfg = Sim2simCfg(
             sim_duration=10.0,
             dt=0.001,