lowered mass

Author: some45bucks

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/h1_anymal_env/agents/harl_ppo_cfg.yaml

@@ -10,7 +10,7 @@ device:
   # whether to set CUDA deterministic
   cuda_deterministic: True
   # arg to torch.set_num_threads
-  torch_threads: 4
+  torch_threads: 16
 train:
   # number of parallel environments for training data collection
   n_rollout_threads: 20

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/h1_anymal_env/h1_anymal_push_env.py

@@ -149,7 +149,7 @@ class HeterogeneousPushMultiAgentFlatEnvCfg(DirectMARLEnvCfg):
         spawn=sim_utils.CuboidCfg( 
             size=(3,2,2),
             rigid_props=sim_utils.RigidBodyPropertiesCfg(),
-            mass_props=sim_utils.MassPropertiesCfg(mass=50),
+            mass_props=sim_utils.MassPropertiesCfg(mass=10),
             collision_props=sim_utils.CollisionPropertiesCfg(),
             visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.,1.,0.)),
             # visual_material=sim_utils.GlassMdlCfg(glass_color=(0.0, 1.0, 0.0), frosting_roughness=0.7),