Cut the Shadow Hand training budgets to the measured plateau

Author: hujc7

source/isaaclab_tasks/isaaclab_tasks/core/handover/agents/rsl_rl_ppo_cfg.py

@@ -13,7 +13,7 @@ class HandoverPPORunnerCfg(RslRlOnPolicyRunnerCfg):
     """RSL-RL PPO configuration for the single-agent view of Shadow Hand handover."""
 
     num_steps_per_env = 16
-    max_iterations = 5000
+    max_iterations = 3500
     save_interval = 250
     experiment_name = "handover"
     obs_groups = {"actor": ["policy"], "critic": ["policy"]}

source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/agents/rsl_rl_ppo_cfg.py

@@ -13,7 +13,7 @@
 @configclass
 class ShadowHandPPORunnerCfg(RslRlOnPolicyRunnerCfg):
     num_steps_per_env = 16
-    max_iterations = 10000
+    max_iterations = 3000
     save_interval = 250
     experiment_name = "shadow_hand"
     actor = RslRlMLPModelCfg(