51 lines
1.5 KiB
YAML
51 lines
1.5 KiB
YAML
# Configuration for DexMachina (Genesis) dynamics retargeting pipeline
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defaults:
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- _self_
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# Dataset configuration (not used by DexMachina, but kept for compatibility)
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dataset_dir: "example_datasets"
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dataset_name: "arctic"
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robot_type: "inspire_hand" # "inspire_hand", "xhand", "dex3_hand"
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embodiment_type: "bimanual"
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task: "box-30-230" # format: "object_name-start_frame-end_frame"
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data_id: 0
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viewer: "gs"
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rerun_spawn: false
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device: "cuda:0"
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# Simulation and control parameters
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simulator: dexmachina
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sim_dt: 0.02 # Genesis simulation timestep
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ctrl_dt: 0.20 # Control timestep (how often MPC updates)
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knot_dt: 0.20 # Knot point spacing
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ref_dt: 0.02 # Reference trajectory timestep
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horizon: 0.40 # MPC horizon in seconds
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show_viewer: true
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save_video: true
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save_info: true
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max_sim_steps: -1 # -1 means use full trajectory length
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nu: 36
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# MPC optimization parameters
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max_num_iterations: 32 # Number of iterations per MPC step
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num_samples: 1024 # Number of parallel samples for CEM
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last_ctrl_noise_scale: 1.0
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first_ctrl_noise_scale: 0.5
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final_noise_scale: 0.01
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pos_noise_scale: 1.0
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rot_noise_scale: 1.0
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joint_noise_scale: 1.0
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improvement_threshold: 0.01
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improvement_check_steps: 4
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terminal_rew_scale: 10.0
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temperature: 1.0
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# Reward mode
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use_rl_reward: true # true to use dexmachina RL training reward formulation
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# Domain randomization (curriculum learning)
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num_dr: 1 # Number of domain randomization settings per iteration
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# Output configuration
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output_dir: "outputs/dexmachina"
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