longer cycle time

kscalelabs · Dec 6, 2024 · f5dc2fd · f5dc2fd
1 parent 462d3d8
commit f5dc2fd
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/sim/envs/humanoids/grp_config.py b/sim/envs/humanoids/grp_config.py
@@ -152,7 +152,8 @@ class rewards:
         target_joint_pos_scale = 0.17  # rad
         target_feet_height = 0.06  # m
 
-        cycle_time = 0.64  # sec
+        # cycle_time = 0.25  # sec
+        cycle_time = 0.5
         # if true negative total rewards are clipped at zero (avoids early termination problems)
         only_positive_rewards = True
         # tracking reward = exp(error*sigma)
@@ -180,7 +181,7 @@ class scales:
 
             # base pos
             default_joint_pos = 0.5
-            orientation = 1.0
+            orientation = 1.
             base_height = 0.2
             base_acc = 0.2
             # energy