# Configuration for ManipTrans (IsaacGym) dynamics retargeting pipeline
defaults:
  - _self_

# Dataset configuration
dataset_dir: "example_datasets"
dataset_name: "maniptrans"
robot_type: "inspire"  # "inspire", "shadow", "allegro", "xhand"
embodiment_type: "left"  # "right", "left", "bimanual"
task: "0f900@0"  # HO-Tracker data index used as task name (format: sequence_id@sub_id)
data_id: 0
seed: 0
viewer: "none" # "isaac" for isaac gym native viewer
rerun_spawn: false
device: "cuda:0"

# Simulation and control parameters
simulator: maniptrans
sim_dt: 0.0166667  # 1/60 second (IsaacGym default)
ctrl_dt: 0.2  # Control timestep (how often MPC updates)
knot_dt: 0.2  # Knot point spacing
ref_dt: 0.0166667  # Reference trajectory timestep
render_dt: 0.0166667  # Same as sim_dt
trace_dt: 0.0166667  # Must be divisible by sim_dt
horizon: 0.6  # MPC horizon in seconds
show_viewer: false
save_video: true
save_info: true
max_sim_steps: -1  # -1 means use full trajectory length
nu: 18  # 6 (wrist force/torque) + 12 (inspire DOFs), overridden by env

# MPC optimization parameters
max_num_iterations: 32  # Number of iterations per MPC step
num_samples: 1024  # Number of parallel samples for CEM
last_ctrl_noise_scale: 1.0
first_ctrl_noise_scale: 0.5
final_noise_scale: 0.1
# this part is handled by base controller in maniptrans
pos_noise_scale: 0.0
rot_noise_scale: 0.0
joint_noise_scale: 1.0
improvement_threshold: 0.001
improvement_check_steps: 4
terminal_rew_scale: 10.0
temperature: 1.0

# Domain randomization (not used for ManipTrans evaluation)
num_dr: 1

# ManipTrans-specific parameters (maniptrans_data_indices derived from task name)
maniptrans_episode_length: 1200
maniptrans_tighten_method: "None"  # No curriculum tightening for MPC
maniptrans_tighten_factor: 1.0
maniptrans_tighten_steps: 3200
maniptrans_actions_moving_average: 0.4
maniptrans_use_pid: false
maniptrans_use_quat_rot: false
maniptrans_ctrl_freq_inv: 1
maniptrans_record_video: false  # Record video after MPC (replay with 2-env camera)

# Output configuration (empty = use standard path under dataset_dir)
output_dir: ""