hofee/starvla_benchmark
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fix replay

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This commit is contained in:
Zhu Juan
2026-06-26 19:08:52 +08:00
parent 7017370142
commit 83495aa106
1 changed files with 11 additions and 9 deletions
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20
benchmark_replay.yaml
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@@ -9,7 +9,7 @@ simulation:
launch_config: launch_config:
device: cuda device: cuda
enable_cameras: true enable_cameras: true
headless: false headless: true
livestream: 0 livestream: 0
scene: scene:
name: kujiale_multispace name: kujiale_multispace
@@ -67,19 +67,21 @@ scene:
torso_joint2: 0.0 torso_joint2: 0.0
torso_joint3: 0.0 torso_joint3: 0.0
torso_joint4: 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_joint1: -0.2
left_arm_joint2: 0.05 left_arm_joint2: 0.6
left_arm_joint3: 0.0 left_arm_joint3: 0.0
left_arm_joint4: -1.0 left_arm_joint4: -1.6
left_arm_joint5: 0.0 left_arm_joint5: -2.3
left_arm_joint6: 0.0 left_arm_joint6: -0.33
left_arm_joint7: 0.0 left_arm_joint7: 0.0
right_arm_joint1: -0.2 right_arm_joint1: -0.2
right_arm_joint2: -0.05 right_arm_joint2: -0.6
right_arm_joint3: 0.0 right_arm_joint3: 0.0
right_arm_joint4: -1.0 right_arm_joint4: -1.6
right_arm_joint5: 0.1 right_arm_joint5: 2.3
right_arm_joint6: 0.0 right_arm_joint6: -0.33
right_arm_joint7: 0.0 right_arm_joint7: 0.0
actuator_cfg_dict: actuator_cfg_dict: