lower default number of envs

kellyguo11 · Jul 31, 2024 · ab9fd2e · ab9fd2e
1 parent 40a80a8
commit ab9fd2e
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diff --git a/...aac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/agents/rl_games_ppo_camera_cfg.yaml b/...aac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/agents/rl_games_ppo_camera_cfg.yaml
@@ -77,7 +77,7 @@ params:
     truncate_grads: True
     e_clip: 0.2
     horizon_length: 64
-    minibatch_size: 2048 #32768
+    minibatch_size: 64 #32768
     mini_epochs: 4
     critic_coef: 2
     clip_value: True

diff --git a/...ns/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/shadow_hand_camera_env.py b/...ns/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/shadow_hand_camera_env.py
@@ -27,7 +27,7 @@
 @configclass
 class ShadowHandRGBCameraEnvCfg(ShadowHandEnvCfg):
     # scene
-    scene: InteractiveSceneCfg = InteractiveSceneCfg(num_envs=128, env_spacing=5.0, replicate_physics=True)
+    scene: InteractiveSceneCfg = InteractiveSceneCfg(num_envs=64, env_spacing=5.0, replicate_physics=True)
 
     # camera
     tiled_camera: TiledCameraCfg = TiledCameraCfg(