# @package _global_
task: lift_board
robot_type: xhand
embodiment_type: bimanual
data_id: 0
temperature: 1.0
num_samples: 1024
horizon: 2.0
improvement_threshold: 0.01
improvement_check_steps: 2
max_num_iterations: 32
base_pos_rew_scale: 0.1
base_rot_rew_scale: 0.03
# rot_rew_scale: 0.3
joint_noise_scale: 0.03
pos_noise_scale: 0.01
rot_noise_scale: 0.01