# @package _global_
# Override configuration for fair_mon dataset
dataset_name: omomo
robot_type: unitree_g1
viewer: mujoco-rerun
embodiment_type: humanoid_object
task: move_largebox
rerun_spawn: true
sim_dt: 0.0166667
ref_dt: 0.0333333
trace_dt: 0.0333333
max_sim_steps: -1
horizon: 0.8
ctrl_dt: 0.1
knot_dt: 0.1
# annealing parameters
first_ctrl_noise_scale: 0.5
last_ctrl_noise_scale: 1.0
final_noise_scale: 0.1
joint_noise_scale: 0.1
# sampling
improvement_threshold: 0.01
max_num_iterations: 16
temperature: 1.0
num_samples: 2048
# reward
vel_rew_scale: 0.0
joint_rew_scale: 1.0
base_pos_rew_scale: 1.0
base_rot_rew_scale: 1.0
pos_rew_scale: 1.0
rot_rew_scale: 0.3
# note: above parameter is optimized for speed. you can have better performance with horizon=1.0