add replay script

benchmark_replay.yaml

@@ -0,0 +1,295 @@
+general:
+  root_paths:
+    asset: /home/zhiyuan/zhujuan/joysim_exp/gen_data/data    # Root directory for assets (robots, objects, scene USDs, etc.)
+    checkpoints: /home/zhiyuan/zhujuan/checkpoints
+    output: /home/zhiyuan/zhujuan/joysim_exp/output                   # Root directory for outputs (recorded data, logs, etc.)
+
+simulation:
+  stereotype: isaaclab
+  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: platform
+    asset_path: platform://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:
+      - 0.15
+      - -4.02430000000001
+      - 0.510259093
+      rotation:
+      - -0.304408012043137
+      - -0.304408012043137
+      - 0.638228612805745
+      - 0.6382286128057448
+    omni6DPose_book_031:
+      name: omni6DPose_book_031
+      stereotype: rigid
+      source: local
+      asset_path: asset://objects/omni6DPose/book/omni6DPose_book_031/Aligned.usd
+      scale:
+      - 0.001
+      - 0.001
+      - 0.001
+      position:
+      - 0.15
+      - -4.152430000000001
+      - 0.510259093
+      quaternion: [1, 0, 0, 0]
+      axis_y_up: true
+
+  robot_cfg_dict:
+    r1pro_dex:
+      name: r1pro_dex
+      asset_path: asset://robots/r1pro/r1pro_dex.usd
+      position: [-0.2, -4.1, 0.0]
+      rotation: [1, 0, 0, 0]
+      stereotype: modular_robot
+      source: local
+
+      init_joint_position:
+        torso_joint1: 0.0
+        torso_joint2: 0.0
+        torso_joint3: 0.0
+        torso_joint4: 0.0
+        left_arm_joint1: -0.2
+        left_arm_joint2: 0.05
+        left_arm_joint3: 0.0
+        left_arm_joint4: -1.0
+        left_arm_joint5: 0.0
+        left_arm_joint6: 0.0
+        left_arm_joint7: 0.0
+        right_arm_joint1: -0.2
+        right_arm_joint2: -0.05
+        right_arm_joint3: 0.0
+        right_arm_joint4: -1.0
+        right_arm_joint5: 0.1
+        right_arm_joint6: 0.0
+        right_arm_joint7: 0.0
+
+      actuator_cfg_dict:
+        left_arm:
+          stereotype: arm
+          joint_names_expr: [left_arm_joint1, left_arm_joint2, left_arm_joint3, left_arm_joint4, left_arm_joint5, left_arm_joint6, left_arm_joint7]
+          stiffness: 60000.0
+          damping: 4000.0
+        right_arm:
+          stereotype: arm
+          joint_names_expr: [right_arm_joint1, right_arm_joint2, right_arm_joint3, right_arm_joint4, right_arm_joint5, right_arm_joint6, right_arm_joint7]
+          stiffness: 60000.0
+          damping: 4000.0
+        left_hand:
+          stereotype: arm
+          joint_names_expr: [left_thumb_CMC_FE, left_thumb_CMC_AA, left_thumb_MCP_FE, left_thumb_MCP_AA, left_thumb_IP, left_index_MCP_FE, left_index_MCP_AA, left_index_PIP, left_index_DIP, left_middle_MCP_FE, left_middle_MCP_AA, left_middle_PIP, left_middle_DIP, left_ring_MCP_FE, left_ring_MCP_AA, left_ring_PIP, left_ring_DIP, left_pinky_CMC, left_pinky_MCP_FE, left_pinky_MCP_AA, left_pinky_PIP, left_pinky_DIP]
+          stiffness: 50.0
+          damping: 5.0
+        right_hand:
+          stereotype: arm
+          joint_names_expr: [right_thumb_CMC_FE, right_thumb_CMC_AA, right_thumb_MCP_FE, right_thumb_MCP_AA, right_thumb_IP, right_index_MCP_FE, right_index_MCP_AA, right_index_PIP, right_index_DIP, right_middle_MCP_FE, right_middle_MCP_AA, right_middle_PIP, right_middle_DIP, right_ring_MCP_FE, right_ring_MCP_AA, right_ring_PIP, right_ring_DIP, right_pinky_CMC, right_pinky_MCP_FE, right_pinky_MCP_AA, right_pinky_PIP, right_pinky_DIP]
+          stiffness: 50.0
+          damping: 5.0
+        torso:
+          stereotype: arm
+          joint_names_expr: [torso_joint1, torso_joint2, torso_joint3, torso_joint4]
+          stiffness: 100000.0
+          damping: 8000.0
+        base_lock:
+          stereotype: arm
+          joint_names_expr: [steer_motor_joint1, steer_motor_joint2, steer_motor_joint3, wheel_motor_joint1, wheel_motor_joint2, wheel_motor_joint3]
+          stiffness: 100000.0
+          damping: 5000.0
+
+      arm_modules:
+        left_arm:
+          arm_actuator_name: left_arm
+          ee_link_name: left_hand_C_MC
+          ee_type: dexterous_hand
+          ee_actuator_name: left_hand
+        right_arm:
+          arm_actuator_name: right_arm
+          ee_link_name: right_hand_C_MC
+          ee_type: dexterous_hand
+          ee_actuator_name: right_hand
+
+      extra_modules:
+        torso:
+          actuator_name: torso
+
+      use_planner: false
+
+  sensor_cfg_dict:
+
+    head_camera:
+      name: head_camera
+      stereotype: camera
+      data_types: [rgb]
+      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: r1pro_dex
+        is_articulation_part: true
+        articulation_part_name: zed_link
+        create_fixed_joint: true
+        local_position: [0.0, 0.0, 0.0]
+        local_rotation:
+        - 0.33
+        - 1.0
+        - -0.0
+        - 0.0
+    front_camera:
+      name: front_camera
+      stereotype: camera
+      position: [2, -4.1, 1.8]
+      look_at:
+        is_point: true
+        look_at_point: [0.0, -4.1, 1.2]
+      data_types: [rgb]
+      width: 1280
+      height: 720
+      camera_model: pinhole
+      fix_camera: true
+    left_camera:
+      name: left_camera
+      stereotype: camera
+      position: [-0.58554, -2.0, 1.8]
+      look_at:
+        is_point: true
+        look_at_point: [0.0, -4.1, 1.2]
+      data_types: [rgb]
+      width: 1280
+      height: 720
+      camera_model: pinhole
+      fix_camera: true
+    right_camera:
+      name: right_camera
+      stereotype: camera
+      position: [0.36816, -5.36, 1.8]
+      look_at:
+        is_point: true
+        look_at_point: [0.0, -4.1, 1.2]
+      data_types: [rgb]
+      width: 1280
+      height: 720
+      camera_model: pinhole
+      fix_camera: true
+
+  light_cfg_dict:
+    sun:
+      name: sun
+      stereotype: general_light
+      light_type: distant
+      position: [0, 0, 5]
+      rotation: [1, 0, 0, 0]
+      intensity: 1000
+      angle: 0.53
+      color: [1.0, 1.0, 1.0]
+    sky:
+      name: sky
+      stereotype: general_light
+      light_type: dome
+      intensity: 10.0
+      color: [1.0, 1.0, 1.0]
+extension:
+  extension_cfg_dict:
+    replay_data_collect:
+      enable: true
+      stereotype: data_collect
+      observer_cfgs:
+        - stereotype: robot_observer
+          name: r1pro_dex
+          target_joint_names:
+              - left_thumb_CMC_FE
+              - left_thumb_CMC_AA
+              - left_thumb_MCP_FE
+              - left_thumb_MCP_AA
+              - left_thumb_IP
+              - left_index_MCP_FE
+              - left_index_MCP_AA
+              - left_index_PIP
+              - left_index_DIP
+              - left_middle_MCP_FE
+              - left_middle_MCP_AA
+              - left_middle_PIP
+              - left_middle_DIP
+              - left_ring_MCP_FE
+              - left_ring_MCP_AA
+              - left_ring_PIP
+              - left_ring_DIP
+              - left_pinky_CMC
+              - left_pinky_MCP_FE
+              - left_pinky_MCP_AA
+              - left_pinky_PIP
+              - left_pinky_DIP
+              - right_thumb_CMC_FE
+              - right_thumb_CMC_AA
+              - right_thumb_MCP_FE
+              - right_thumb_MCP_AA
+              - right_thumb_IP
+              - right_index_MCP_FE
+              - right_index_MCP_AA
+              - right_index_PIP
+              - right_index_DIP
+              - right_middle_MCP_FE
+              - right_middle_MCP_AA
+              - right_middle_PIP
+              - right_middle_DIP
+              - right_ring_MCP_FE
+              - right_ring_MCP_AA
+              - right_ring_PIP
+              - right_ring_DIP
+              - right_pinky_CMC
+              - right_pinky_MCP_FE
+              - right_pinky_MCP_AA
+              - right_pinky_PIP
+              - right_pinky_DIP
+          observe_ee_pose: true
+          observe_ee_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: head_camera
+          observe_rgb: true
+        - stereotype: sensor_observer
+          name: front_camera
+          observe_rgb: true
+        - stereotype: sensor_observer
+          name: left_camera
+          observe_rgb: true
+        - stereotype: sensor_observer
+          name: right_camera
+          observe_rgb: true
+    record:
+      enable: true # set to true to record the data
+      stereotype: record
+      data_collector_name: replay_data_collect
+      record_backend: lfs
+      record_fps: 30
+      use_recorder_step: true
+      backend_root_path: output://replay_egodex
+      postprocess_list: ["hdf5", "video", "preview_video"]