16 lines
548 B
YAML
16 lines
548 B
YAML
# Single-env MuJoCo runner — mimics real hardware timing.
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# dt × substeps = 0.002 × 10 = 0.02 s → 50 Hz control, same as serial runner.
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num_envs: 1
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device: cpu
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dt: 0.002
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substeps: 10
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history_length: 10
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# Clean by default (deterministic eval). Confirming-experiment example —
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# re-eval an existing checkpoint in sim with a fixed 1-step action delay:
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# mjpython scripts/eval.py env=rotary_cartpole runner=mujoco_single \
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# checkpoint=runs/.../agent_XXXX.pt \
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# '++runner.domain_rand.action_delay_steps=[1,1]'
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domain_rand: {}
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