optim:
  options:
    robust_loss_type: "bisquare"
    robust_tuning_const: 4.6851
    joints2d_sigma: 100.0
    lr: 1.0
    lbfgs_max_iter: 20
    save_every: 20
    vis_every: -1
    max_chunk_steps: 20
    save_meshes: False

  root:
    num_iters: 50

  smpl:
    num_iters: 0

  smooth:
    opt_scale: False
    num_iters: 300

  motion_chunks:
    chunk_size: 10
    init_steps: 20
    chunk_steps: 20
    opt_cams: True

  loss_weights:
    penetration: [0,0,0] # [0, 1.0, 10.0]
    # joints2d: [1, 1, 1] # Increased smooth_fit weight from 0.001 to 0.1 to better match 2D keypoints
    joints2d: [10000, 10000, 10000] # Increased smooth_fit weight from 0.001 to 0.1 to better match 2D keypoints
    bg2d: [0.0, 0.000, 0.000]
    cam_R_smooth : [0.0, 0.0, 0.0]
    cam_t_smooth : [0.0, 0.0, 0.0]
    bio : [0.0, 0.0, 0.0] # [10, 10, 10]
    depth_constraint: [100.0, 100.0, 0.0] # Prevent hand from being behind camera - MUST be stronger than 2D loss
      #    bg2d: [0.0, 0.0001, 0.0001]
      #    cam_R_smooth : [0.0, 1000.0, 1000.0]
      #    cam_t_smooth : [0.0, 1000.0, 1000.0]
    joints3d: [0.0, 0.0, 0.0]
    joints3d_smooth: [1000, 10000.0, 0.0] # raw: [1.0, 10.0, 0.0]
    # joints3d_smooth: [0, 0, 0.0] # raw: [1.0, 10.0, 0.0]
    joints3d_rollout: [0.0, 0.0, 0.0]
    verts3d: [0.0, 0.0, 0.0]
    points3d: [0.0, 0.0, 0.0]
    pose_prior: [1, 1, 1]
    shape_prior: [0.05, 0.05, 0.05]
    motion_prior: [0.0, 0.0, 0.075]
    init_motion_prior: [0.0, 0.0, 0.075]
    joint_consistency: [0.0, 0.0, 100.0]
    bone_length: [0.0, 2000.0, 2000.0]