25 lines
540 B
YAML
25 lines
540 B
YAML
# @package _global_
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# Override configuration for fair_mon dataset
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dataset_name: fair_mon
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robot_type: allegro
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viewer: rerun-mujoco
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embodiment_type: right
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task: cat
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rerun_spawn: true
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ref_dt: 0.05
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max_sim_steps: -1
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horizon: 0.8
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ctrl_dt: 0.1
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knot_dt: 0.2
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num_dr: 1
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perturb_torque: 0.0
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pos_noise_scale: 0.05
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rot_noise_scale: 0.05
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joint_noise_scale: 0.1
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improvement_check_steps: 2
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max_num_iterations: 16
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temperature: 1.0
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# original reference is bad, so we put smaller scale on tracking wrist pose
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base_pos_rew_scale: 0.1
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base_rot_rew_scale: 0.03
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