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