update

benchmark.yaml

@@ -49,8 +49,8 @@ scene:
       - 0.001
       - 0.001
       position:
-      - 0.419859
-      - -4.152430000000001
+      - 0.219859
+      - -3.852430000000001
       - 0.510259093
       quaternion:
       - 0.7070997233636068
@@ -74,6 +74,14 @@ scene:
       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
@@ -180,6 +188,13 @@ extension:
           name: Franka
           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
@@ -195,6 +210,7 @@ extension:
       stereotype: benchmark
       data_collector_name: benchmark_data_collect
       action_frequency: 15.0
+      timeout_per_episode: 30
       goals:
         - name: cola on top of book
           description: check if the cola bottle is on the book
@@ -208,13 +224,17 @@ extension:
         prompt: pick up the can
         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: false # set to true to record the data
+      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://0318_qwenpi_droid_pretrain_8node/checkpoints/steps_30000_pytorch_model.pt