add replay script
This commit is contained in:
Zhu Juan
202
replay_config.yaml
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202
replay_config.yaml
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# ============================================================
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# R1Pro-Dex LeRobot replay config (fastsim)
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# Derived from benchmark.yaml, adapted for offline trajectory
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# replay driven by replay_lerobot.py.
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#
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# Differences vs benchmark.yaml (intentional):
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# - root_paths fixed for THIS machine.
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# - kujiale scene + can/book objects dropped (objects are NOT
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# replayed; the lid-on-cup trajectory is unrelated to that room),
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# replaced by a ground plane for fast load & clear viewing.
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# - NO replay / benchmark / policy_server extensions: the motion is
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# driven from Python (hands set directly, arms solved via IK).
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# - only data_collect + record extensions remain, to record the
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# replayed motion back out (hdf5 + video).
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# ============================================================
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general:
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root_paths:
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asset: /home/zhiyuan/zhujuan/joysim_exp/gen_data/data
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output: /home/zhiyuan/zhujuan/joysim_exp/output
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simulation:
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stereotype: isaaclab
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dt: 0.008333333333333333 # 1/120 -> 8 sim steps per 15fps data frame (more IK convergence)
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launch_config:
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device: cuda
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enable_cameras: true
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headless: true # set false to watch live; true records faster
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livestream: 0
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scene:
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name: r1pro_dex_lerobot_replay
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position: [0, 0, 0]
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rotation: [1, 0, 0, 0]
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base_config:
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name: default_base
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stereotype: ground_plane
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ground_plane_size: [100, 100]
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robot_cfg_dict:
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r1pro_dex:
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name: r1pro_dex
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asset_path: asset://robots/r1pro/r1pro_dex.usd
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position: [0, 0, 0]
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rotation: [1, 0, 0, 0]
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stereotype: modular_robot
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source: local
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# init pose copied from benchmark.yaml (defines the starting EE pose
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# that the delta-pose arm replay is anchored to).
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init_joint_position:
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torso_joint1: 0.0
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torso_joint2: 0.0
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torso_joint3: 0.0
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torso_joint4: 0.0
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# palms-down init (back of hand up): verified ee_link +X palm-normal -> ~[0,0,-1]
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# (down-score 0.97 on both hands), within joint limits.
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left_arm_joint1: -0.2
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left_arm_joint2: 0.6
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left_arm_joint3: 0.0
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left_arm_joint4: -1.6
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left_arm_joint5: -2.3
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left_arm_joint6: -0.33
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left_arm_joint7: 0.0
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right_arm_joint1: -0.2
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right_arm_joint2: -0.6
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right_arm_joint3: 0.0
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right_arm_joint4: -1.6
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right_arm_joint5: 2.3
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right_arm_joint6: -0.33
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right_arm_joint7: 0.0
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actuator_cfg_dict:
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left_arm:
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stereotype: arm
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joint_names_expr: [left_arm_joint1, left_arm_joint2, left_arm_joint3, left_arm_joint4, left_arm_joint5, left_arm_joint6, left_arm_joint7]
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stiffness: 60000.0
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damping: 4000.0
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right_arm:
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stereotype: arm
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joint_names_expr: [right_arm_joint1, right_arm_joint2, right_arm_joint3, right_arm_joint4, right_arm_joint5, right_arm_joint6, right_arm_joint7]
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stiffness: 60000.0
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damping: 4000.0
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left_hand:
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stereotype: arm
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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]
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stiffness: 50.0
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damping: 5.0
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right_hand:
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stereotype: arm
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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]
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stiffness: 50.0
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damping: 5.0
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torso:
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stereotype: arm
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joint_names_expr: [torso_joint1, torso_joint2, torso_joint3, torso_joint4]
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stiffness: 100000.0
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damping: 8000.0
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base_lock:
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stereotype: arm
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joint_names_expr: [steer_motor_joint1, steer_motor_joint2, steer_motor_joint3, wheel_motor_joint1, wheel_motor_joint2, wheel_motor_joint3]
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stiffness: 100000.0
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damping: 5000.0
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arm_modules:
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left_arm:
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arm_actuator_name: left_arm
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ee_link_name: left_hand_C_MC
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ee_type: dexterous_hand
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ee_actuator_name: left_hand
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right_arm:
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arm_actuator_name: right_arm
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ee_link_name: right_hand_C_MC
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ee_type: dexterous_hand
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ee_actuator_name: right_hand
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extra_modules:
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torso:
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actuator_name: torso
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use_planner: false
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sensor_cfg_dict:
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# Ego/head view, attached to the robot head — comparable to the source
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# dataset's observation.images.ego_view.
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head_camera:
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name: head_camera
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stereotype: camera
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data_types: [rgb]
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width: 1280
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height: 720
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camera_model: pinhole
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fix_camera: true
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focal_length: 2.8
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horizontal_aperture: 4.890881131191918
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vertical_aperture: 2.7608816125932627
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convention: opengl
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attach_to:
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target_name: r1pro_dex
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is_articulation_part: true
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articulation_part_name: zed_link
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create_fixed_joint: true
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local_position: [0.0, 0.0, 0.0]
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local_rotation: [0.33, 1.0, -0.0, 0.0]
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# Third-person view of the whole robot.
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front_camera:
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name: front_camera
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stereotype: camera
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position: [2.2, 0.0, 1.4]
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look_at:
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is_point: true
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look_at_point: [0.0, 0.0, 1.0]
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data_types: [rgb]
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width: 1280
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height: 720
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camera_model: pinhole
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fix_camera: true
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light_cfg_dict:
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sun:
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name: sun
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stereotype: general_light
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light_type: distant
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position: [0, 0, 5]
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rotation: [1, 0, 0, 0]
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intensity: 1000
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angle: 0.53
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color: [1.0, 1.0, 1.0]
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sky:
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name: sky
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stereotype: general_light
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light_type: dome
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intensity: 10.0
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color: [1.0, 1.0, 1.0]
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extension:
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extension_cfg_dict:
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data_collect:
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enable: true
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stereotype: data_collect
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observer_cfgs:
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- stereotype: robot_observer
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name: r1pro_dex
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observe_joint_positions: true
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observe_joint_velocities: true
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observe_joint_position_targets: true
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observe_ee_pose: true
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- stereotype: sensor_observer
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name: head_camera
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observe_rgb: true
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- stereotype: sensor_observer
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name: front_camera
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observe_rgb: true
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record:
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enable: true
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stereotype: record
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backend_root_path: output://benchmark_replay_record
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data_collector_name: data_collect
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record_backend: lfs
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record_fps: 15 # matches the source dataset fps
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use_recorder_step: true
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record_scene: true
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postprocess_list: [hdf5, video, preview_video]
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