✨ clean up lot of stuff

2026-03-22 15:49:13 +01:00
parent d3ed1c25ad
commit ca0e7b8b03
37 changed files with 3613 additions and 1223 deletions
--- a/configs/runner/mjx.yaml
+++ b/configs/runner/mjx.yaml
@@ -1,4 +1,4 @@
 num_envs: 1024       # MJX shines with many parallel envs
 device: auto         # auto = cuda if available, else cpu
 dt: 0.002
-substeps: 20
+substeps: 10
--- a/configs/runner/mujoco.yaml
+++ b/configs/runner/mujoco.yaml
@@ -1,4 +1,4 @@
 num_envs: 64
 device: auto  # auto = cuda if available, else cpu
 dt: 0.002
-substeps: 20
+substeps: 10
--- a/configs/runner/serial.yaml
+++ b/configs/runner/serial.yaml
@@ -6,6 +6,5 @@ num_envs: 1
 device: cpu
 port: /dev/cu.usbserial-0001
 baud: 115200
-dt: 0.02                    # control loop period (50 Hz)
+dt: 0.02                    # control loop period (50 Hz, matches training)
 no_data_timeout: 2.0        # seconds of silence before declaring disconnect
-encoder_jump_threshold: 200  # encoder tick jump → reboot detection