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
commit 7e4ef6f98b
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+# @package _global_
+# Override configuration for fair_mon dataset
+dataset_name: fair_mon
+robot_type: allegro
+viewer: rerun-mujoco
+embodiment_type: right
+task: cat
+rerun_spawn: true
+ref_dt: 0.05
+max_sim_steps: -1
+horizon: 0.8
+ctrl_dt: 0.1
+knot_dt: 0.2
+num_dr: 1
+perturb_torque: 0.0
+pos_noise_scale: 0.05
+rot_noise_scale: 0.05
+joint_noise_scale: 0.1
+improvement_check_steps: 2
+max_num_iterations: 16
+temperature: 1.0
+# original reference is bad, so we put smaller scale on tracking wrist pose
+base_pos_rew_scale: 0.1
+base_rot_rew_scale: 0.03