Add eval_every_n to configure file to easy tuning.

leggedrobotics · Mar 14, 2020 · ef251fc · ef251fc
1 parent ed4c5d5
commit ef251fc
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diff --git a/raisim_gym/env/env/ANYmal/ANYmal_bear2/default_cfg.yaml b/raisim_gym/env/env/ANYmal/ANYmal_bear2/default_cfg.yaml
@@ -4,6 +4,7 @@ record_video: yes
 environment:
   render: True
   num_envs: 100
+  eval_every_n: 50
   num_threads: 40
   simulation_dt: 0.0025
   control_dt: 0.01

diff --git a/scripts/anymal_blind_locomotion.py b/scripts/anymal_blind_locomotion.py
@@ -57,7 +57,7 @@
     TensorboardLauncher(saver.data_dir + '/PPO2_1')
 
     # PPO run
-    model.learn(total_timesteps=400000000, eval_every_n=50, log_dir=saver.data_dir, record_video=cfg['record_video'])
+    model.learn(total_timesteps=400000000, eval_every_n=cfg['environment']['eval_every_n'], log_dir=saver.data_dir, record_video=cfg['record_video'])
 
     # Need this line if you want to keep tensorflow alive after training
     input("Press Enter to exit... Tensorboard will be closed after exit\n")