cfg.yaml

seed: 1
record_video: yes

environment:
  render: True
# just testing commenting
  num_envs: 800
  eval_every_n: 200
  num_threads: 20
  simulation_dt: 0.008 #0.002

  control_dt: 0.032 #0.02
  max_time: 100.0
  reward:
    position:
      coeff: 0.1  #dyn
    # orientation:
    #   coeff: 0. #kin  0.1
    joint:
      coeff: 1  #dyn
    # task:
    #   coeff: 0.  #kin  0.2
    dynamic_orientation:
      coeff: 1  #dyn
    box:
      coeff: 0.1 #0.1
    contact:
      coeff: 0.0
    torque:
      coeff: 0.02

architecture:
  policy_net: [128, 128]
  value_net: [128, 128]