# @package _global_
dataset_name: arcticv2
task: s01-box_use_01
robot_type: xhand
embodiment_type: bimanual
data_id: 0
temperature: 1.0
num_samples: 1024
ctrl_dt: 1.5
knot_dt: 1.0
horizon: 3.0
first_ctrl_noise_scale: 2.0
last_ctrl_noise_scale: 4.0
improvement_threshold: -1.0
improvement_check_steps: 2
max_num_iterations: 4
base_pos_rew_scale: 0.1
base_rot_rew_scale: 0.03
joint_noise_scale: 0.1
pos_noise_scale: 0.01
rot_noise_scale: 0.01
final_noise_scale: 0.01
object_rot_threshold: 2.5
max_local_retries: 3
# Arctic clips start ~2 s before contact (hand approaching, object resting on
# the table only via friction). The default sanity check holds ctrl_ref[0]
# for 3 s and requires the object not to drift — that's incompatible with a
# pre-grasp start frame, so disable it here.
sanity_check_seconds: 0.0
# Arctic objects (box / laptop / mixer / notebook / waffleiron) decompose
# into 25-30 convex parts each. With bimanual xhand the contact + joint-row
# counts overflow the default per-env limits ("nefc overflow - please
# increase njmax to ~420"). Bump both above the worst observed value with
# headroom.
nconmax_per_env: 256
njmax_per_env: 768