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Junhan
2026-05-07 19:31:45 +08:00
parent 7ce2823c56
commit 2514cc943d
6 changed files with 5976 additions and 94 deletions
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193
benchmark.yaml
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@@ -1,77 +1,80 @@
general:
scan_project: true
root_paths:
asset: /home/ubuntu/projects/gen_data/data
checkpoints: /home/ubuntu/data/models
output: /home/ubuntu/output
asset: /home/ubuntu/xionghao/sim_hofee/sim_hofee/assets
checkpoints: /home/ubuntu/xionghao/starVLA-starVLA/playground/Checkpoints
output: /home/ubuntu/xionghao/sim_hofee
simulation:
stereotype: isaaclab
intiailize_steps: 300
launch_config:
device: cuda
enable_cameras: true
headless: false
livestream: 0
scene:
name: kujiale_multispace
name: 827313_home
base_config:
stereotype: usd
name: _827313_home_workspace_00
name: _827313_home_workspace_01
source: local
asset_path: asset://scenes/kujiale_multispace/827313_home/workspace_00.usd
asset_path: asset://scenes/kujiale_multispace/827313_home/workspace_01.usd
object_cfg_dict:
omni6DPose_can_016:
name: omni6DPose_can_016
omni6DPose_timer_017:
name: omni6DPose_timer_017
stereotype: rigid
source: local
asset_path: asset://objects/omni6DPose/can/omni6DPose_can_016/Aligned.usd
asset_path: asset://objects/omni6DPose/timer/omni6DPose_timer_017/Aligned.usd
scale:
- 0.001
- 0.001
- 0.001
position:
- 0.2
- -4.15243
- 0.5
- 0.552364
- -4.0582599999999995
- 0.524713118
quaternion:
- -0.304408012043137
- -0.304408012043137
- 0.638228612805745
- 0.6382286128057448
- 0.166210542394157
- 0.166210542394157
- 0.6872947370648492
- 0.6872947370648491
axis_y_up: true
omni6DPose_plug_001:
name: omni6DPose_plug_001
omni6DPose_book_031:
name: omni6DPose_book_031
stereotype: rigid
source: local
asset_path: asset://objects/omni6DPose/plug/omni6DPose_plug_001/Aligned.usd
asset_path: asset://objects/omni6DPose/book/omni6DPose_book_031/Aligned.usd
scale:
- 0.001
- 0.001
- 0.001
position:
- 0.219859
- -3.852430000000001
- 0.510259093
- 0.6623640000000001
- -3.7882599999999997
- 0.5101601435
quaternion:
- 0.7070997233636068
- 0.707099723363607
- 0.003159306745230588
- 0.003159306745230588
- 0.7063055546421202
- 0.7063055546421203
- -0.03365209475927027
- -0.033652094759270265
axis_y_up: true
robot_cfg_dict:
Franka:
name: Franka
Franka_Robotiq_2f85:
name: Franka_Robotiq_2f85
asset_path: asset://Franka/franka_robotiq_2f85_zedmini.usd
position:
- -0.3779152929316859
- -3.943187336951741
- 0.3130090550954169
rotation:
- 0.9987576855319703
- 1.082364
- -3.92826
- 0.47629299999999997
rotation:
- 7.549799991308018e-08
- 0.0
- 0.0
- 0.04983056883903615
stereotype: single_gripper_arm_robot
- 0.9999999999999973
stereotype: modular_robot
source: local
ee_link_name: panda_link8
ik_joint_names:
@@ -83,18 +86,43 @@ scene:
- panda_joint6
- panda_joint7
init_joint_position:
# panda_joint1: 0.18641542
# panda_joint2: 0.47660449
# panda_joint3: -0.03320411
# panda_joint4: -2.27693725
# panda_joint5: 0.98161776
# panda_joint6: 2.20247197
# panda_joint7: 0.71794897
panda_joint2: -0.1633
panda_joint4: -1.07
panda_joint6: 0.8933
panda_joint7: 0.785
arm_actuator_name: franka_arm
gripper_actuator_name: robotiq_2f_85
use_planner: true
planner_cfg:
stereotype: curobo
lazy_init: true
robot_config_file: asset://curobo/franka_robotiq_2f85/franka_robotiq_2f85.yml
world_config_source: stage
arm_modules:
main_arm:
arm_actuator_name: franka_arm
ee_link_name: panda_link8
ee_type: gripper
ee_actuator_name: robotiq_gripper
actuator_cfg_dict:
franka_arm:
stereotype: arm
joint_names_expr: [panda_joint1, panda_joint2, panda_joint3, panda_joint4, panda_joint5, panda_joint6, panda_joint7]
stiffness: 3000.0
damping: 800.0
robotiq_gripper:
stereotype: gripper
joint_names_expr: [robotiq_85_left_knuckle_joint]
stiffness: 10000
damping: 500.0
close_control_type: velocity
open_control_type: position
drive_joints:
robotiq_85_left_knuckle_joint:
close_velocity: 5.0
open_velocity: -5.0
close_position: 0.8
open_position: 0.0
use_planner: false
sensor_cfg_dict:
Hand_Camera:
name: Hand_Camera
@@ -108,23 +136,23 @@ scene:
camera_model: pinhole
fix_camera: true
focal_length: 2.8
horizontal_aperture: 4.890881131191918
horizontal_aperture: 4.893416860031241
vertical_aperture: 2.7608816125932627
convention: opengl
attach_to:
target_name: Franka
target_name: Franka_Robotiq_2f85
is_articulation_part: true
articulation_part_name: panda_link8
create_fixed_joint: true
local_position:
- -0.07176474936469446
- 0.02890958100382394
- 0.01978286477078585
- -0.07128738160694643
- 0.03551506300731732
- 0.018927748370281355
local_rotation:
- 0.12352531576657892
- 0.7000519980574638
- -0.6933396337721066
- -0.11810524383481495
- -0.12117023430710862
- -0.6862313269668
- 0.7070213671685396
- 0.12052023305019997
Left_Camera:
name: Left_Camera
stereotype: camera
@@ -137,20 +165,20 @@ scene:
camera_model: pinhole
fix_camera: false
focal_length: 2.1
horizontal_aperture: 5.019302546405283
horizontal_aperture: 5.030789363390793
vertical_aperture: 2.833796298140747
convention: opengl
attach_to:
target_name: Franka
target_name: Franka_Robotiq_2f85
local_position:
- -0.07383269512283744
- -0.4566116797983716
- 0.5664518136443555
- 0.31702696813014064
- -0.3844238699868664
- 0.6551552990137672
local_rotation:
- 0.7669289562134721
- 0.4437472984144337
- -0.232167881174614
- -0.4012560108236337
- 0.8742457685173938
- 0.38378563025938384
- -0.11951449178007277
- -0.27224843891267797
Right_Camera:
name: Right_Camera
stereotype: camera
@@ -163,20 +191,20 @@ scene:
camera_model: pinhole
fix_camera: false
focal_length: 2.1
horizontal_aperture: 5.053278483887542
horizontal_aperture: 5.050364265142387
vertical_aperture: 2.833796298140747
convention: opengl
attach_to:
target_name: Franka
target_name: Franka_Robotiq_2f85
local_position:
- 0.4501524009531093
- 0.7206899873248545
- 0.27525652672526973
- 0.21844487914880717
- 0.20172329179193413
- 0.30108042236545296
local_rotation:
- 0.007056820167439314
- 0.007107689842383092
- 0.709606075042274
- 0.7045274304789896
- -0.5316249212230874
- -0.38697158527836417
- 0.44338617110944967
- 0.6091277686910994
extension:
extension_cfg_dict:
@@ -185,9 +213,10 @@ extension:
stereotype: data_collect
observer_cfgs:
- stereotype: robot_observer
name: Franka
name: Franka_Robotiq_2f85
target_joint_names: [panda_joint1, panda_joint2, panda_joint3, panda_joint4, panda_joint5, panda_joint6, panda_joint7, robotiq_85_left_knuckle_joint]
observe_ee_pose: true
observe_gripper_drive_state: true
observe_ee_state: true
observe_joint_position: true
observe_joint_velocity: true
observe_joint_positions: true
@@ -210,22 +239,23 @@ extension:
stereotype: benchmark
data_collector_name: benchmark_data_collect
action_frequency: 15.0
timeout_per_episode: 30
timeout_per_episode: 300
goals:
- name: cola on top of book
description: check if the cola bottle is on the book
stereotype: on_top
object_A_name: omni6DPose_plug_001
object_B_name: omni6DPose_can_016
object_A_name: omni6DPose_book_031
object_B_name: omni6DPose_timer_017
policy:
stereotype: starvla
robot_name: Franka
robot_name: Franka_Robotiq_2f85
arm_name: main_arm
sensor_names: [Hand_Camera, Left_Camera, Right_Camera]
prompt: pick up the can
prompt: pick up the timer and put on the book
run_trunk_size: 16
gripper_width_mapper_file: ./gripper_width_robotiq_2f85_fixed.json
visualize_action_ee_pose: false
visualize_state_ee_pose: false
visualize_action_ee_pose: true
visualize_state_ee_pose: true
visualize_bounding_box_targets: [] # [omni6DPose_plug_001, omni6DPose_can_016] # 打开会被policy看到，会影响policy的推理结果
recorder:
@@ -237,7 +267,10 @@ extension:
postprocess_list: ["hdf5", "video"]
policy_server:
ckpt_path: checkpoints://0318_qwenpi_droid_pretrain_8node/checkpoints/steps_30000_pytorch_model.pt
# ckpt_path: checkpoints://0324_qwenpi_droid_pretrain_8node/checkpoints/steps_30000_pytorch_model.pt
# ckpt_path: checkpoints://0405_qwenpi_droid_norm_pretrain_8node/checkpoints/steps_60000_pytorch_model.pt
# ckpt_path: checkpoints://0407_qwenpi_droid_postrain/final_model/pytorch_model.pt
ckpt_path: checkpoints://0407_qwenpi_droid_from_scratch/final_model/pytorch_model.pt
ckpt_source: local
host: 0.0.0.0
port: 5000