# if given, will override the device setting in gym. 
env: 
  numEnvs: 4096
  envSpacing: 2
  episodeLength: 300
  isFlagrun: False
  enableDebugVis: False
  playdataset: False
  projtype: "None"
  saveImages: False
  initVel: False
  moreRigid: False
  pdControl: True
  powerScale: 1.0
  controlFrequencyInv: 2 # 30 Hz
  stateInit: "Hybrid" #Random
  rolloutLength: 300
  hybridInitProb: 0.1
  dataFPS: 30
  dataFramesScale: 1 # 25->30fps
  dataSub: ['sub2']
  ballSize: 1.
  numObs: 3198
  motion_file: InterAct/OMOMO_new
  robotType: "smplx/omomo.xml"
  objectDensity: 1000
  localRootObs: False
  keyBodies: ["L_Hip", "L_Knee", "L_Ankle", "L_Toe", "R_Hip", "R_Knee", "R_Ankle", "R_Toe", "Torso", "Spine", "Chest", "Neck", "Head", "L_Thorax", "L_Shoulder", "L_Elbow", "L_Wrist", "R_Thorax", "R_Shoulder", "R_Elbow", "R_Wrist"]
  contactBodies: ["L_Hip", "L_Knee", "L_Ankle", "L_Toe", "R_Hip", "R_Knee", "R_Ankle", "R_Toe", "Torso", "Spine", "Chest", "Neck", "Head", "L_Thorax", "L_Shoulder", "L_Elbow", "L_Wrist", "L_Index3", "L_Middle3", "L_Pinky3", "L_Ring3","L_Thumb3", "R_Thorax", "R_Shoulder", "R_Elbow", "R_Wrist", "R_Index3", "R_Middle3", "R_Pinky3", "R_Ring3","R_Thumb3"] #["right_foot", "left_foot"]
  terminationHeight: 0.15
  enableEarlyTermination: True
  physicalBufferSize: 3

  asset:
    assetRoot: "intermimic/data/assets"

  plane:
    staticFriction: 0.9
    dynamicFriction: 0.9
    restitution: 0.1
  
  rewardWeights:
    p: 30.
    r: 1.5
    pv: 0.
    rv: 0.

    op: 5.0
    or: 0.1
    opv: 0.1
    orv: 0.

    ig: 5.

    cg_hand: 5.
    cg_other: 5.
    cg_all: 3.

    eg1: 0.00002
    eg2: 0.00002
    eg3: 0.00000000001

sim:
  substeps: 4
  physx:
    num_threads: 8
    solver_type: 1  # 0: pgs, 1: tgs
    num_position_iterations: 8
    num_velocity_iterations: 1
    contact_offset: 0.02
    rest_offset: 0.0
    bounce_threshold_velocity: 0.2
    max_depenetration_velocity: 20.

  flex:
    num_inner_iterations: 10
    warm_start: 0.25