# Copyright (c) 2022, NVIDIA CORPORATION & AFFILIATES, ETH Zurich, and University of Toronto
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

from omni.isaac.orbit_envs.utils.wrappers.rsl_rl import (
    RslRlOnPolicyRunnerCfg,
    RslRlPpoActorCriticCfg,
    RslRlPpoAlgorithmCfg,
)

REACH_RSL_RL_PPO_CFG = RslRlOnPolicyRunnerCfg(
    num_steps_per_env=64,
    max_iterations=250,
    save_interval=50,
    experiment_name="reach",
    run_name="",
    resume=False,
    load_run=-1,
    load_checkpoint=-1,
    empirical_normalization=False,
    policy=RslRlPpoActorCriticCfg(
        init_noise_std=1.0,
        actor_hidden_dims=[256, 128, 64],
        critic_hidden_dims=[256, 128, 64],
        activation="elu",
    ),
    algorithm=RslRlPpoAlgorithmCfg(
        value_loss_coef=1.0,
        use_clipped_value_loss=True,
        clip_param=0.2,
        entropy_coef=0.01,
        num_learning_epochs=8,
        num_mini_batches=64,
        learning_rate=3.0e-4,
        schedule="adaptive",
        gamma=0.99,
        lam=0.95,
        desired_kl=0.01,
        max_grad_norm=1.0,
    ),
)
