From 83495aa1064e997dc46cb2b489c88e204e29e604 Mon Sep 17 00:00:00 2001 From: Zhu Juan Date: Fri, 26 Jun 2026 19:08:52 +0800 Subject: [PATCH] fix replay --- benchmark_replay.yaml | 20 +++++++++++--------- 1 file changed, 11 insertions(+), 9 deletions(-) diff --git a/benchmark_replay.yaml b/benchmark_replay.yaml index 7ae9273..a935617 100644 --- a/benchmark_replay.yaml +++ b/benchmark_replay.yaml @@ -9,7 +9,7 @@ simulation: launch_config: device: cuda enable_cameras: true - headless: false + headless: true livestream: 0 scene: name: kujiale_multispace @@ -67,19 +67,21 @@ scene: torso_joint2: 0.0 torso_joint3: 0.0 torso_joint4: 0.0 + # palms-down init (back of hand up): verified ee_link +X palm-normal -> ~[0,0,-1] + # (down-score 0.97 on both hands), within joint limits. left_arm_joint1: -0.2 - left_arm_joint2: 0.05 + left_arm_joint2: 0.6 left_arm_joint3: 0.0 - left_arm_joint4: -1.0 - left_arm_joint5: 0.0 - left_arm_joint6: 0.0 + left_arm_joint4: -1.6 + left_arm_joint5: -2.3 + left_arm_joint6: -0.33 left_arm_joint7: 0.0 right_arm_joint1: -0.2 - right_arm_joint2: -0.05 + right_arm_joint2: -0.6 right_arm_joint3: 0.0 - right_arm_joint4: -1.0 - right_arm_joint5: 0.1 - right_arm_joint6: 0.0 + right_arm_joint4: -1.6 + right_arm_joint5: 2.3 + right_arm_joint6: -0.33 right_arm_joint7: 0.0 actuator_cfg_dict: