update

benchmark_can.yaml

@@ -0,0 +1,257 @@
+general:
+  scan_project: true
+  root_paths:
+    asset: /home/ubuntu/xionghao/sim_hofee/sim_hofee/assets
+    checkpoints: /home/ubuntu/xionghao/starVLA-starVLA/playground/Checkpoints
+    output: /home/ubuntu/xionghao/sim_hofee
+
+simulation:
+  launch_config:
+    device: cuda
+    enable_cameras: true
+    headless: false
+    livestream: 0
+    
+scene:
+  name: kujiale_multispace
+  base_config:
+    stereotype: usd
+    name: _827313_home_workspace_00
+    source: local
+    asset_path: asset://scenes/kujiale_multispace/827313_home/workspace_00.usd
+  object_cfg_dict:
+    omni6DPose_can_016:
+      name: omni6DPose_can_016
+      stereotype: rigid
+      source: local
+      asset_path: asset://objects/omni6DPose/can/omni6DPose_can_016/Aligned.usd
+      scale:
+      - 0.001
+      - 0.001
+      - 0.001
+      position:
+      - 0.2
+      - -4.05243
+      - 0.5
+      quaternion:
+      - -0.304408012043137
+      - -0.304408012043137
+      - 0.638228612805745
+      - 0.6382286128057448
+      axis_y_up: true
+    omni6DPose_can_011:
+      name: omni6DPose_can_011
+      stereotype: rigid
+      source: local
+      asset_path: asset://objects/omni6DPose/can/omni6DPose_can_011/Aligned.usd
+      scale:
+      - 0.001
+      - 0.001
+      - 0.001
+      position:
+      - 0.219859
+      - -3.82430000000001
+      - 0.510259093
+      quaternion:
+      - 0.7070997233636068
+      - 0.707099723363607
+      - 0.003159306745230588
+      - 0.003159306745230588
+      axis_y_up: true
+  robot_cfg_dict:
+    Franka:
+      name: Franka
+      asset_path: asset://Franka/franka_robotiq_2f85_zedmini.usd
+      position:
+      - -0.3779152929316859
+      - -3.943187336951741
+      - 0.3130090550954169
+      rotation:
+      - 0.9987576855319703
+      - 0.0
+      - 0.0
+      - 0.04983056883903615
+      stereotype: single_gripper_arm_robot
+      source: local
+      ee_link_name: panda_link8
+      ik_joint_names:
+        - panda_joint1
+        - panda_joint2
+        - panda_joint3
+        - panda_joint4
+        - panda_joint5
+        - panda_joint6
+        - panda_joint7
+      init_joint_position:
+        panda_joint2: -0.1633
+        panda_joint4: -1.07
+        panda_joint6: 0.8933
+        panda_joint7: 0.785
+        # panda_joint1: 0.00201746
+        # panda_joint2: -0.25797674
+        # panda_joint3: -0.02563748
+        # panda_joint4: -1.68997145
+        # panda_joint5: -0.0735122
+        # panda_joint6: 1.45765436
+        # panda_joint7: 0.56564939
+      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
+  sensor_cfg_dict:
+    Hand_Camera:
+      name: Hand_Camera
+      stereotype: camera
+      data_types:
+      - rgb
+      - depth
+      - normals
+      width: 1280
+      height: 720
+      camera_model: pinhole
+      fix_camera: true
+      focal_length: 2.8
+      horizontal_aperture: 4.890881131191918
+      vertical_aperture: 2.7608816125932627
+      convention: opengl
+      attach_to:
+        target_name: Franka
+        is_articulation_part: true
+        articulation_part_name: panda_link8
+        create_fixed_joint: true
+        local_position:
+        - -0.07176474936469446
+        - 0.02890958100382394
+        - 0.01978286477078585
+        local_rotation:
+        - 0.12352531576657892
+        - 0.7000519980574638
+        - -0.6933396337721066
+        - -0.11810524383481495
+    Left_Camera:
+      name: Left_Camera
+      stereotype: camera
+      data_types:
+      - rgb
+      - depth
+      - normals
+      width: 1280
+      height: 720
+      camera_model: pinhole
+      fix_camera: false
+      focal_length: 2.1
+      horizontal_aperture: 5.019302546405283
+      vertical_aperture: 2.833796298140747
+      convention: opengl
+      attach_to:
+        target_name: Franka
+        local_position:
+        - -0.07383269512283744
+        - -0.4566116797983716
+        - 0.5664518136443555
+        local_rotation:
+        - 0.7669289562134721
+        - 0.4437472984144337
+        - -0.232167881174614
+        - -0.4012560108236337
+    Right_Camera:
+      name: Right_Camera
+      stereotype: camera
+      data_types:
+      - rgb
+      - depth
+      - normals
+      width: 1280
+      height: 720
+      camera_model: pinhole
+      fix_camera: false
+      focal_length: 2.1
+      horizontal_aperture: 5.053278483887542
+      vertical_aperture: 2.833796298140747
+      convention: opengl
+      attach_to:
+        target_name: Franka
+        local_position:
+        - 0.4501524009531093
+        - 0.7206899873248545
+        - 0.27525652672526973
+        local_rotation:
+        - 0.007056820167439314
+        - 0.007107689842383092
+        - 0.709606075042274
+        - 0.7045274304789896
+
+extension:
+  extension_cfg_dict:
+    benchmark_data_collect:
+      enable: true
+      stereotype: data_collect
+      observer_cfgs:
+        - stereotype: robot_observer
+          name: Franka
+          target_joint_names: [panda_joint1, panda_joint2, panda_joint3, panda_joint4, panda_joint5, panda_joint6, panda_joint7]
+          observe_ee_pose: true
+          observe_gripper_drive_state: true
+          observe_joint_position: true
+          observe_joint_velocity: true
+          observe_joint_positions: true
+          observe_joint_velocities: true
+          observe_joint_accelerations: true
+          observe_joint_position_targets: true
+          observe_joint_velocity_targets: true
+        - stereotype: sensor_observer
+          name: Hand_Camera
+          observe_rgb: true
+        - stereotype: sensor_observer
+          name: Left_Camera
+          observe_rgb: true
+        - stereotype: sensor_observer
+          name: Right_Camera
+          observe_rgb: true
+          
+    starvla_benchmark:
+      enable: true
+      stereotype: benchmark
+      data_collector_name: benchmark_data_collect
+      action_frequency: 15.0
+      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_can_016
+          object_B_name: omni6DPose_can_011
+      policy:
+        stereotype: starvla
+        robot_name: Franka
+        sensor_names: [Hand_Camera, Left_Camera, Right_Camera]
+        prompt: pick up the red can on the table
+        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_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:
+      enable: true # set to true to record the data
+      stereotype: record
+      data_collector_name: benchmark_data_collect
+      record_fps: 30
+      backend_root_path: output://benchmark_record
+      postprocess_list: ["hdf5", "video"]
+
+policy_server:
+  # ckpt_path: checkpoints://0324_qwenpi_droid_pretrain_8node/checkpoints/steps_30000_pytorch_model.pt
+  # ckpt_path: checkpoints://0401_qwenpi_droid_pretrain_8node/checkpoints/steps_20000_pytorch_model.p
+  ckpt_path: checkpoints://0405_qwenpi_droid_norm_pretrain_8node/checkpoints/steps_60000_pytorch_model.pt
+  # ckpt_path: checkpoints://0407_qwenpi_droid_postrain/checkpoints/steps_10000_pytorch_model.pt
+  ckpt_source: local
+  host: 0.0.0.0
+  port: 5000
+  use_bf16: true
+  unnorm_key: oxe_bridge
+  state_mode: ee_pose7