44 lines
1.1 KiB
YAML
44 lines
1.1 KiB
YAML
dataset_dir: ../../example_datasets
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dataset_name: oakink
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robot_type: allegro
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embodiment_type: bimanual
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task: pick_spoon_bowl
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data_id: 0
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sim_dt: 0.01
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ctrl_dt: 0.2
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ref_dt: 0.02
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show_viewer: true
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save_video: true
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save_info: true
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# Configuration for MJWP (MuJoCo + Warp) dynamics retargeting pipeline
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defaults:
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- _self_
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- launcher: basic
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# Configuration for MJWP (MuJoCo + Warp) dynamics retargeting pipeline
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dataset_dir: "../example_datasets"
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dataset_name: "oakink"
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robot_type: "allegro"
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embodiment_type: "bimanual"
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all_tasks: null # if null, process all available tasks, otherwise specify list of tasks
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overwrite: false # whether to overwrite existing mjwp trajectories
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viewer: ""
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device: "cuda:0"
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method: "mjwp"
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# MJWP-specific optimization parameters (optional overrides)
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# Set to null to use defaults from Config class
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horizon: null # default: 1.2
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sim_dt: null # default: 0.01
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ctrl_dt: null # default: 0.2
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show_viewer: true # typically false for batch processing
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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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# 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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