Question about sim_dt setup in training

[MinchoU]

Hi. Thanks for sharing your great work.

I tested your deployment policy, and found out that it doesn't work with sim_dt=0.005 with decimation=4, which is one of common settings in humanoid RL. It seems like you used more than decimation=5, which would increase computation compared to decimation=4 with same control frequency. So I was wondering what simulation setting you used when training this policy and hopefully the reason for selecting that.

Thanks in advance!