116 lines
2.8 KiB
YAML
116 lines
2.8 KiB
YAML
# @package _global_
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defaults:
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- _self_
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# === TASK CONFIGURATION ===
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robot_type: xhand # "inspire", "allegro", "g1"
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embodiment_type: bimanual # "left", "right", "bimanual", "CMU"
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task: pick_spoon_bowl
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seed: 0
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# === DATASET CONFIGURATION ===
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dataset_dir: example_datasets
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dataset_name: oakink
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data_id: 0
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model_path: ""
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data_path: ""
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# === SIMULATOR CONFIGURATION ===
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simulator: mjwp # "isaac" | "mujoco" | "mjwp" | "mjwp_cons" | "mjwp_eq" | "mjwp_cons_eq" | "kinematic"
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device: cuda:0
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# Simulation timing
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sim_dt: 0.01 # simulation timestep
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ctrl_dt: 0.4 # control timestep
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ref_dt: 0.02 # reference data timestep (1/50.0)
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render_dt: 0.02 # rendering timestep
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horizon: 1.6 # planning horizon
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knot_dt: 0.4 # knot point spacing
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max_sim_steps: -1 # maximum simulation steps (-1 for unlimited)
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# Simulation constraints
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nconmax_per_env: 120 # max contacts per environment
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njmax_per_env: 350 # max joints per environment
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# Simulation annealing
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num_dyn: 1 # number of environments for annealing, used for virtual contact constraint
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# Domain randomization
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num_dr: 1 # number of domain randomization groups, used for domain randomization
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pair_margin_range: [-0.005, 0.005]
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xy_offset_range: [-0.005, 0.005]
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perturb_force: 0.0
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perturb_torque: 0.0
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contact_guidance: false
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# === OPTIMIZER CONFIGURATION ===
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# Sampling parameters
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num_samples: 1024
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temperature: 0.1
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max_num_iterations: 32
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improvement_threshold: 0.01
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improvement_check_steps: 1
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# Noise scheduling
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first_ctrl_noise_scale: 0.5
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last_ctrl_noise_scale: 1.0
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final_noise_scale: 0.1
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exploit_ratio: 0.01
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exploit_noise_scale: 0.01
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# Noise scaling by component
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joint_noise_scale: 0.15
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pos_noise_scale: 0.03
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rot_noise_scale: 0.03
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# Reward scaling
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base_pos_rew_scale: 1.0
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base_rot_rew_scale: 0.3
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joint_rew_scale: 0.003
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pos_rew_scale: 1.0
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rot_rew_scale: 0.3
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vel_rew_scale: 0.0001
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terminal_rew_scale: 1.0
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# Termination threshold
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terminate_resample: false
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object_pos_threshold: 0.1 # meters
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object_rot_threshold: 0.3 # radians
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# Gibbs sampling
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gibbs_sampling: false
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# === VISUALIZATION CONFIGURATION ===
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show_viewer: true
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viewer: mujoco-rerun # "mujoco" | "rerun" | "viser" | "isaac"
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rerun_spawn: true
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save_video: true
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save_rerun: false
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save_viser: false
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save_metrics: true
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save_info: true
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save_config: true
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# === TRACE RECORDING ===
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trace_dt: 0.02 # 1/50.0
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num_trace_uniform_samples: 4
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num_trace_topk_samples: 2
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trace_site_ids: []
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# === AUTOMATICALLY SET PROPERTIES ===
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# Computed timesteps
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horizon_steps: -1
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knot_steps: -1
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ref_steps: -1
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ctrl_steps: -1
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# Model dimensions
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nq_obj: -1 # object DOF
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nq: -1 # total position DOF
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nv: -1 # total velocity DOF
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nu: -1 # total control DOF
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npair: -1 # total pair DOF
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# Computed tensors (these will be set programmatically)
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noise_scale: null
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beta_traj: -1.0
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# Runtime state
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env_params_list: []
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viewer_body_entity_and_ids: []
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output_dir: ""
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# Hydra configuration
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hydra:
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run:
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dir: .
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output_subdir: null
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