# @package _global_
task: p36-tea
dataset_name: gigahand
robot_type: xhand
embodiment_type: bimanual
data_id: 0
temperature: 1.0
num_samples: 1024
first_ctrl_noise_scale: 1.0
final_noise_scale: 0.3
sim_dt: 0.005
max_num_iterations: 32
gibbs_sampling: false
# guidance related
improvement_threshold: 0.0
contact_guidance: true
guidance_decay_ratio: 0.5
init_pos_actuator_gain: 2.0
init_pos_actuator_bias: 2.0
init_rot_actuator_gain: 0.3
init_rot_actuator_bias: 0.3
# with guidance, exploration noise can be higher
joint_noise_scale: 0.15
pos_noise_scale: 0.01
rot_noise_scale: 0.01
# with guidance, horizon can be shorter
horizon: 1.6
knot_dt: 0.4
ctrl_dt: 0.2
base_pos_rew_scale: 0.03
base_rot_rew_scale: 0.03
pos_rew_scale: 1.0
rot_rew_scale: 1.0