dataset_dir: ../../example_datasets
dataset_name: oakink
robot_type: allegro
embodiment_type: bimanual
task: pick_spoon_bowl
data_id: 0
sim_dt: 0.01
ctrl_dt: 0.2
ref_dt: 0.02
show_viewer: true
save_video: true
save_info: true
# Configuration for MJWP (MuJoCo + Warp) dynamics retargeting pipeline
defaults:
  - _self_
  - launcher: basic

# Configuration for MJWP (MuJoCo + Warp) dynamics retargeting pipeline
dataset_dir: "../example_datasets"
dataset_name: "oakink"
robot_type: "allegro"
embodiment_type: "bimanual"
all_tasks: null  # if null, process all available tasks, otherwise specify list of tasks
overwrite: false  # whether to overwrite existing mjwp trajectories
viewer: ""
device: "cuda:0"
method: "mjwp"

# MJWP-specific optimization parameters (optional overrides)
# Set to null to use defaults from Config class
horizon: null  # default: 1.2
sim_dt: null   # default: 0.01
ctrl_dt: null  # default: 0.2
show_viewer: true  # typically false for batch processing
save_video: true
save_info: true
max_sim_steps: -1  # -1 means use full trajectory length

# Hydra configuration
hydra:
  run:
    dir: .
  output_subdir: null