added Robot kinematic use for training

HUGE BUG -> SimManager physics broken (at least with Robot kinematics)
2026-08-06 13:48:08 +02:00
parent c93c524a10
commit 523a4aea89
5 changed files with 502 additions and 177 deletions
@@ -77,7 +77,7 @@ def main():
    model = PPO(
        policy="MlpPolicy",
        env=vec_env,
-        learning_rate=3e-4,
+        learning_rate=1e-4,
        n_steps=256,
        batch_size=256,
        n_epochs=10,