Initial snapshot: hand motion pipeline (Dyn-HaMR + dex-retargeting + SPIDER)

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
2026-09-15 14:13:49 +08:00
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+# Configuration for HDMI (mjlab) humanoid retargeting pipeline
+defaults:
+  - _self_
+
+# Task configuration
+dataset_name: "hdmi"
+robot_type: "unitree_g1"
+task: "move_suitcase" # HDMI task name (e.g., move_suitcase, open_drawer, etc.)
+viewer: "mujoco-rerun" # "mujoco" for visualization, "none" for headless
+rerun_spawn: false
+embodiment_type: "humanoid_object" # don't use specific noise scaling for hands
+device: "cuda:0"
+joint_noise_scale: 0.2 # disable specific noise scaling for robot
+
+# Simulation and control parameters
+simulator: hdmi
+sim_dt: 0.02 # mjlab simulation timestep
+ctrl_dt: 0.04 # Control timestep (how often MPC updates)
+knot_dt: 0.20 # Knot point spacing
+ref_dt: 0.02 # Reference trajectory timestep
+horizon: 0.80 # MPC horizon in seconds
+show_viewer: true
+save_video: true # Disable for now - need to configure camera names for HDMI
+save_info: true
+max_sim_steps: -1 # Maximum simulation steps (-1 for unlimited)
+nu: -1 # Number of controls (will be set from environment)
+
+# Optimization parameters
+use_torch_compile: true
+
+# MPC optimization parameters
+max_num_iterations: 32 # Number of iterations per MPC step
+num_samples: 1024 # Number of parallel samples for sampling
+last_ctrl_noise_scale: 1.0
+first_ctrl_noise_scale: 1.0
+final_noise_scale: 0.1
+improvement_threshold: 0.02
+improvement_check_steps: 1
+terminal_rew_scale: 1.0
+temperature: 0.1
+num_resamples: 0
+resample_ratio: 0.2
+
+# Domain randomization (not used for HDMI, kept for compatibility)
+num_dr: 1
+
+# Output configuration
+output_dir: "outputs/hdmi"