# 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"