✨ update urdf and dependencies

2026-03-09 20:39:02 +01:00
parent c753c369b4
commit 15da0ef2fd
11 changed files with 204 additions and 57 deletions
--- a/configs/env/cartpole.yaml
+++ b/configs/env/cartpole.yaml
@@ -9,3 +9,4 @@ actuators:
  - joint: cart_joint
    gear: 10.0
    ctrl_range: [-1.0, 1.0]
+    damping: 0.05
--- a/configs/env/rotary_cartpole.yaml
+++ b/configs/env/rotary_cartpole.yaml
@@ -3,5 +3,6 @@ model_path: assets/rotary_cartpole/rotary_cartpole.urdf
 reward_upright_scale: 1.0
 actuators:
  - joint: motor_joint
-    gear: 15.0
+    gear: 0.5
    ctrl_range: [-1.0, 1.0]
+    damping: 0.1
--- a/configs/training/ppo.yaml
+++ b/configs/training/ppo.yaml
@@ -9,7 +9,8 @@ learning_rate: 0.0003
 clip_ratio: 0.2
 value_loss_scale: 0.5
 entropy_loss_scale: 0.05
-log_interval: 10
+log_interval: 1000
+checkpoint_interval: 50000

 # ClearML remote execution (GPU worker)
 remote: false