♻️ crazy refactor

2026-03-11 22:52:01 +01:00
parent 35223b3560
commit 4115447022
34 changed files with 4255 additions and 102 deletions
--- a/configs/runner/mujoco_single.yaml
+++ b/configs/runner/mujoco_single.yaml
@@ -0,0 +1,7 @@
+# Single-env MuJoCo runner — mimics real hardware timing.
+# dt × substeps = 0.002 × 10 = 0.02 s → 50 Hz control, same as serial runner.
+
+num_envs: 1
+device: cpu
+dt: 0.002
+substeps: 10