49 lines
1.5 KiB
YAML
49 lines
1.5 KiB
YAML
# Configuration for HDMI (mjlab) humanoid retargeting pipeline
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defaults:
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- _self_
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# Task configuration
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dataset_name: "hdmi"
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robot_type: "unitree_g1"
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task: "move_suitcase" # HDMI task name (e.g., move_suitcase, open_drawer, etc.)
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viewer: "mujoco-rerun" # "mujoco" for visualization, "none" for headless
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rerun_spawn: false
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embodiment_type: "humanoid_object" # don't use specific noise scaling for hands
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device: "cuda:0"
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joint_noise_scale: 0.2 # disable specific noise scaling for robot
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# Simulation and control parameters
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simulator: hdmi
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sim_dt: 0.02 # mjlab simulation timestep
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ctrl_dt: 0.04 # 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: 0.80 # MPC horizon in seconds
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show_viewer: true
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save_video: true # Disable for now - need to configure camera names for HDMI
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save_info: true
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max_sim_steps: -1 # Maximum simulation steps (-1 for unlimited)
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nu: -1 # Number of controls (will be set from environment)
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# Optimization parameters
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use_torch_compile: true
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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 sampling
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last_ctrl_noise_scale: 1.0
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first_ctrl_noise_scale: 1.0
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final_noise_scale: 0.1
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improvement_threshold: 0.02
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improvement_check_steps: 1
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terminal_rew_scale: 1.0
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temperature: 0.1
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num_resamples: 0
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resample_ratio: 0.2
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# Domain randomization (not used for HDMI, kept for compatibility)
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num_dr: 1
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# Output configuration
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output_dir: "outputs/hdmi"
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