63 lines
2.1 KiB
YAML
63 lines
2.1 KiB
YAML
# Configuration for ManipTrans (IsaacGym) dynamics retargeting pipeline
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defaults:
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- _self_
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# Dataset configuration
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dataset_dir: "example_datasets"
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dataset_name: "maniptrans"
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robot_type: "inspire" # "inspire", "shadow", "allegro", "xhand"
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embodiment_type: "left" # "right", "left", "bimanual"
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task: "0f900@0" # HO-Tracker data index used as task name (format: sequence_id@sub_id)
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data_id: 0
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seed: 0
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viewer: "none" # "isaac" for isaac gym native viewer
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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: maniptrans
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sim_dt: 0.0166667 # 1/60 second (IsaacGym default)
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ctrl_dt: 0.2 # Control timestep (how often MPC updates)
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knot_dt: 0.2 # Knot point spacing
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ref_dt: 0.0166667 # Reference trajectory timestep
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render_dt: 0.0166667 # Same as sim_dt
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trace_dt: 0.0166667 # Must be divisible by sim_dt
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horizon: 0.6 # MPC horizon in seconds
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show_viewer: false
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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: 18 # 6 (wrist force/torque) + 12 (inspire DOFs), overridden by env
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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: 0.1
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# this part is handled by base controller in maniptrans
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pos_noise_scale: 0.0
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rot_noise_scale: 0.0
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joint_noise_scale: 1.0
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improvement_threshold: 0.001
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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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# Domain randomization (not used for ManipTrans evaluation)
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num_dr: 1
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# ManipTrans-specific parameters (maniptrans_data_indices derived from task name)
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maniptrans_episode_length: 1200
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maniptrans_tighten_method: "None" # No curriculum tightening for MPC
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maniptrans_tighten_factor: 1.0
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maniptrans_tighten_steps: 3200
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maniptrans_actions_moving_average: 0.4
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maniptrans_use_pid: false
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maniptrans_use_quat_rot: false
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maniptrans_ctrl_freq_inv: 1
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maniptrans_record_video: false # Record video after MPC (replay with 2-env camera)
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# Output configuration (empty = use standard path under dataset_dir)
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output_dir: ""
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