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adapt for starvla-dex

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This commit is contained in:
QiyangYan
2026-05-08 18:24:31 +08:00
parent 2514cc943d
commit 53796c1e63
3 changed files with 89 additions and 150 deletions
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194
benchmark.yaml
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@@ -1,9 +1,9 @@
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
asset: /home/zhiyuan/zhujuan/joysim/gen_data/data # Root directory for assets (robots, objects, scene USDs, etc.)
checkpoints: /home/zhiyuan/zhujuan/checkpoints
output: /home/zhiyuan/zhujuan/joysim/output # Root directory for outputs (recorded data, logs, etc.)
simulation:
stereotype: isaaclab
@@ -20,14 +20,14 @@ scene:
base_config:
stereotype: usd
name: _827313_home_workspace_01
source: local
asset_path: asset://scenes/kujiale_multispace/827313_home/workspace_01.usd
source: platform
asset_path: platform://scenes/kujiale_multispace/827313_home/collect_asset_without_phy.optimized.glb
object_cfg_dict:
omni6DPose_timer_017:
name: omni6DPose_timer_017
stereotype: rigid
source: local
asset_path: asset://objects/omni6DPose/timer/omni6DPose_timer_017/Aligned.usd
source: platform
asset_path: platform://objects/omni6DPose/timer/omni6DPose_timer_017/Aligned.usd
scale:
- 0.001
- 0.001
@@ -45,8 +45,8 @@ scene:
omni6DPose_book_031:
name: omni6DPose_book_031
stereotype: rigid
source: local
asset_path: asset://objects/omni6DPose/book/omni6DPose_book_031/Aligned.usd
source: platform
asset_path: platform://objects/omni6DPose/book/omni6DPose_book_031/Aligned.usd
scale:
- 0.001
- 0.001
@@ -62,9 +62,9 @@ scene:
- -0.033652094759270265
axis_y_up: true
robot_cfg_dict:
Franka_Robotiq_2f85:
name: Franka_Robotiq_2f85
asset_path: asset://Franka/franka_robotiq_2f85_zedmini.usd
r1pro_dex:
name: r1pro_dex
asset_path: asset://robots/r1pro/r1pro_dex.usd
position:
- 1.082364
- -3.92826
@@ -76,56 +76,41 @@ scene:
- 0.9999999999999973
stereotype: modular_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_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_modules:
main_arm:
arm_actuator_name: franka_arm
ee_link_name: panda_link8
ee_type: gripper
ee_actuator_name: robotiq_gripper
arm_actuator_name: dex_arm
ee_actuator_name: robot_hand
ee_type: dexterous_hand
actuator_cfg_dict:
franka_arm:
dex_arm:
stereotype: arm
joint_names_expr: [panda_joint1, panda_joint2, panda_joint3, panda_joint4, panda_joint5, panda_joint6, panda_joint7]
joint_names_expr: [
left_arm_joint1, right_arm_joint1, left_arm_joint2, right_arm_joint2,
left_arm_joint3, right_arm_joint3, left_arm_joint4, right_arm_joint4,
left_arm_joint5, right_arm_joint5, left_arm_joint6, right_arm_joint6,
left_arm_joint7, right_arm_joint7]
stiffness: 3000.0
damping: 800.0
robotiq_gripper:
stereotype: gripper
joint_names_expr: [robotiq_85_left_knuckle_joint]
robot_hand:
stereotype: dexterous_hand
joint_names_expr: [
left_index_MCP_FE, left_middle_MCP_FE, left_pinky_CMC, left_ring_MCP_FE, left_thumb_CMC_FE,
right_index_MCP_FE, right_middle_MCP_FE, right_pinky_CMC, right_ring_MCP_FE, right_thumb_CMC_FE,
left_index_MCP_AA, left_middle_MCP_AA, left_pinky_MCP_FE, left_ring_MCP_AA, left_thumb_CMC_AA,
right_index_MCP_AA, right_middle_MCP_AA, right_pinky_MCP_FE, right_ring_MCP_AA, right_thumb_CMC_AA,
left_index_PIP, left_middle_PIP, left_pinky_MCP_AA, left_ring_PIP, left_thumb_MCP_FE,
right_index_PIP, right_middle_PIP, right_pinky_MCP_AA, right_ring_PIP, right_thumb_MCP_FE,
left_index_DIP, left_middle_DIP, left_pinky_PIP, left_ring_DIP, left_thumb_MCP_AA,
right_index_DIP, right_middle_DIP, right_pinky_PIP, right_ring_DIP, right_thumb_MCP_AA,
left_pinky_DIP, left_thumb_IP, right_pinky_DIP, right_thumb_IP]
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
Zed_Camera:
name: Zed_Camera
stereotype: camera
data_types:
- rgb
@@ -140,71 +125,18 @@ scene:
vertical_aperture: 2.7608816125932627
convention: opengl
attach_to:
target_name: Franka_Robotiq_2f85
is_articulation_part: true
articulation_part_name: panda_link8
target_name: r1pro_dex
is_articulation_part: false
create_fixed_joint: true
local_position:
- -0.07128738160694643
- 0.03551506300731732
- 0.018927748370281355
- 0.06
- 0.0
- 0.01
local_rotation:
- -0.12117023430710862
- -0.6862313269668
- 0.7070213671685396
- 0.12052023305019997
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: 5.030789363390793
vertical_aperture: 2.833796298140747
convention: opengl
attach_to:
target_name: Franka_Robotiq_2f85
local_position:
- 0.31702696813014064
- -0.3844238699868664
- 0.6551552990137672
local_rotation:
- 0.8742457685173938
- 0.38378563025938384
- -0.11951449178007277
- -0.27224843891267797
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: 5.050364265142387
vertical_aperture: 2.833796298140747
convention: opengl
attach_to:
target_name: Franka_Robotiq_2f85
local_position:
- 0.21844487914880717
- 0.20172329179193413
- 0.30108042236545296
local_rotation:
- -0.5316249212230874
- -0.38697158527836417
- 0.44338617110944967
- 0.6091277686910994
- -1.0
- 0.0
- 0.0
- 0.0
extension:
extension_cfg_dict:
@@ -213,8 +145,22 @@ extension:
stereotype: data_collect
observer_cfgs:
- stereotype: robot_observer
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]
name: r1pro_dex
target_joint_names: [steer_motor_joint1, steer_motor_joint2, steer_motor_joint3, torso_joint1, wheel_motor_joint1,
wheel_motor_joint2, wheel_motor_joint3, torso_joint2, torso_joint3, torso_joint4,
left_arm_joint1, right_arm_joint1, left_arm_joint2, right_arm_joint2,
left_arm_joint3, right_arm_joint3, left_arm_joint4, right_arm_joint4,
left_arm_joint5, right_arm_joint5, left_arm_joint6, right_arm_joint6,
left_arm_joint7, right_arm_joint7,
left_index_MCP_FE, left_middle_MCP_FE, left_pinky_CMC, left_ring_MCP_FE, left_thumb_CMC_FE,
right_index_MCP_FE, right_middle_MCP_FE, right_pinky_CMC, right_ring_MCP_FE, right_thumb_CMC_FE,
left_index_MCP_AA, left_middle_MCP_AA, left_pinky_MCP_FE, left_ring_MCP_AA, left_thumb_CMC_AA,
right_index_MCP_AA, right_middle_MCP_AA, right_pinky_MCP_FE, right_ring_MCP_AA, right_thumb_CMC_AA,
left_index_PIP, left_middle_PIP, left_pinky_MCP_AA, left_ring_PIP, left_thumb_MCP_FE,
right_index_PIP, right_middle_PIP, right_pinky_MCP_AA, right_ring_PIP, right_thumb_MCP_FE,
left_index_DIP, left_middle_DIP, left_pinky_PIP, left_ring_DIP, left_thumb_MCP_AA,
right_index_DIP, right_middle_DIP, right_pinky_PIP, right_ring_DIP, right_thumb_MCP_AA,
left_pinky_DIP, left_thumb_IP, right_pinky_DIP, right_thumb_IP]
observe_ee_pose: true
observe_ee_state: true
observe_joint_position: true
@@ -225,13 +171,7 @@ extension:
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
name: Zed_Camera
observe_rgb: true
starvla_benchmark:
@@ -248,12 +188,11 @@ extension:
object_B_name: omni6DPose_timer_017
policy:
stereotype: starvla
robot_name: Franka_Robotiq_2f85
robot_name: r1pro_dex
arm_name: main_arm
sensor_names: [Hand_Camera, Left_Camera, Right_Camera]
sensor_names: [Zed_Camera]
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: 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
@@ -267,13 +206,10 @@ extension:
postprocess_list: ["hdf5", "video"]
policy_server:
# 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_path: checkpoints://egodex_part1_restats_gbs1024/checkpoints/steps_70000_pytorch_model.pt
ckpt_source: local
host: 0.0.0.0
port: 5000
use_bf16: true
unnorm_key: oxe_bridge
state_mode: ee_pose7
state_mode: ee_pose7