reducing feet density to 400, and shortening foot slightly

tartavull · Sep 19, 2023 · e2c35bd · e2c35bd
1 parent 512f9ad
commit e2c35bd
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/alfredo/scenes/flatworld/flatworld_A1_alternate.xml b/alfredo/scenes/flatworld/flatworld_A1_alternate.xml
@@ -98,7 +98,7 @@
 
                             <body name="foot_r" pos="0 0 -0.37">
                                 <joint armature="0.006" axis="0 -1 0" name="ankle_r" pos="0 0 0" range="-45 20" type="hinge" />
-                                <geom contype="1" fromto="-0.10 0 0 0.178 0 0" name="footm_r" size="0.042983" type="box" user="0" density="500" />
+                                <geom contype="1" fromto="-0.07 0 0 0.170 0 0" name="footm_r" size="0.042983" type="box" user="0" density="400" />
                             </body>
                         </body>
                     </body>
@@ -115,7 +115,7 @@
 
                             <body name="foot_l" pos="0 0 -0.37">
                                 <joint armature="0.006" axis="0 -1 0" name="ankle_l" pos="0 0 0" range="-45 20" type="hinge" />
-                                <geom contype="1" fromto="-0.10 0 0 0.178 0 0" name="footm_l" size="0.042983" type="box" user="0" density="500"/>
+                                <geom contype="1" fromto="-0.07 0 0 0.170 0 0" name="footm_l" size="0.042983" type="box" user="0" density="400"/>
                             </body>
                         </body>
                     </body>

diff --git a/experiments/Alfredo-ex2/seq_training_updated.py b/experiments/Alfredo-ex2/seq_training_updated.py
@@ -129,7 +129,7 @@ def progress(num_steps, metrics):
     train_fn = functools.partial(
         ppo.train,
         num_timesteps=wandb.config.len_training,
-        num_evals=10,
+        num_evals=40,
         reward_scaling=0.1,
         episode_length=1000,
         normalize_observations=True,