update frequencies in config

kscalelabs · Dec 2, 2024 · e39f93a · e39f93a
1 parent 54c40d5
commit e39f93a
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Showing 3 changed files with 4 additions and 4 deletions.
diff --git a/sim/envs/humanoids/dora_config.py b/sim/envs/humanoids/dora_config.py
@@ -95,10 +95,10 @@ class control(LeggedRobotCfg.control):
         # action scale: target angle = actionScale * action + defaultAngle
         action_scale = 0.25
         # decimation: Number of control action updates @ sim DT per policy DT
-        decimation = 4  # 100hz
+        decimation = 20  # 50 hz
 
     class sim(LeggedRobotCfg.sim):
-        dt = 0.002  # 1000 Hz
+        dt = 0.001  # 1000 Hz
         substeps = 1  # 2
         up_axis = 1  # 0 is y, 1 is z
 

diff --git a/sim/envs/humanoids/stompymicro_config.py b/sim/envs/humanoids/stompymicro_config.py
@@ -97,7 +97,7 @@ class control(LeggedRobotCfg.control):
         # action scale: target angle = actionScale * action + defaultAngle
         action_scale = 0.25
         # decimation: Number of control action updates @ sim DT per policy DT
-        decimation = 10  # 100hz
+        decimation = 20  # 100hz
 
     class sim(LeggedRobotCfg.sim):
         dt = 0.001  # 1000 Hz

diff --git a/sim/envs/humanoids/stompypro_config.py b/sim/envs/humanoids/stompypro_config.py
@@ -95,7 +95,7 @@ class control(LeggedRobotCfg.control):
         # action scale: target angle = actionScale * action + defaultAngle
         action_scale = 0.25
         # decimation: Number of control action updates @ sim DT per policy DT
-        decimation = 10  # 100hz
+        decimation = 20  # 100hz
 
     class sim(LeggedRobotCfg.sim):
         dt = 0.001  # 1000 Hz