modifying default number of iteration

isaac-racine · Jun 12, 2024 · 6305796 · 6305796
1 parent a05315c
commit 6305796
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/...isaac/lab_tasks/manager_based/locomotion/velocity/config/unitree_go2/agents/rsl_rl_cfg.py b/...isaac/lab_tasks/manager_based/locomotion/velocity/config/unitree_go2/agents/rsl_rl_cfg.py
@@ -16,7 +16,7 @@
 @configclass
 class UnitreeGo2VelCustom1PPORunnerCfg(RslRlOnPolicyRunnerCfg):
     num_steps_per_env = 24
-    max_iterations = 1000
+    max_iterations = 5000
     save_interval = 200
     experiment_name = "unitree_go2_vel_custom"
     empirical_normalization = False

diff --git a/...saac/lab_tasks/manager_based/locomotion/velocity/config/unitree_go2/custom_CaT_env_cfg.py b/...saac/lab_tasks/manager_based/locomotion/velocity/config/unitree_go2/custom_CaT_env_cfg.py
@@ -316,13 +316,13 @@ class CurriculumCfg:
     #     func=mdp.modify_constraint_pmax, params={"term_name": "c_action_rate", "pmax_ini": 0.005, "pmax_end" : 0.25, "num_steps": 10000, "num_steps_grad": 30000}
     # )
     joint_vel = CurriculumTermCfg(
-        func=mdp.modify_constraint_pmax, params={"term_name": "c_joint_vel", "pmax_ini": 0.05, "pmax_end" : 0.25, "num_steps": 10000, "num_steps_grad": 30000}
+        func=mdp.modify_constraint_pmax, params={"term_name": "c_joint_vel", "pmax_ini": 0.05, "pmax_end" : 0.25, "num_steps": 15000, "num_steps_grad": 75000}
     )
     joint_acc = CurriculumTermCfg(
-        func=mdp.modify_constraint_pmax, params={"term_name": "c_joint_acc", "pmax_ini": 0.05, "pmax_end" : 0.25, "num_steps": 10000, "num_steps_grad": 30000}
+        func=mdp.modify_constraint_pmax, params={"term_name": "c_joint_acc", "pmax_ini": 0.05, "pmax_end" : 0.25, "num_steps": 15000, "num_steps_grad": 75000}
     )
     joint_torque = CurriculumTermCfg(
-        func=mdp.modify_constraint_pmax, params={"term_name": "c_joint_torque", "pmax_ini": 0.05, "pmax_end" : 0.25, "num_steps": 10000, "num_steps_grad": 30000}
+        func=mdp.modify_constraint_pmax, params={"term_name": "c_joint_torque", "pmax_ini": 0.05, "pmax_end" : 0.25, "num_steps": 15000, "num_steps_grad": 75000}
     )
 
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