What should be the appropriate hyperparameters for 'walkpick' training

[dyp159]

walkpick_Original_train.mp4

Thanks for your great work.

I have trained 'walkpick' following your defaut code & configurations. However, the humanoid fails to pick up the ball. I seems that the humanoid can't exert enough pressure to the ball, hence untrack the motion.

I wonder if there is a different configuration or hyperparameters for training 'walkpick', or there is another systematic problem with that motion sequence.

Here is the log screen shot: