finish load inference server model

benchmark.yaml

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+general:
+  scan_project: true
+  root_paths:
+    asset: /home/ubuntu/projects/gen_data/data
+    output: /home/ubuntu/output
+    checkpoints: /home/ubuntu/data/models
+
+simulation:
+  launch_config:
+    device: cuda
+    enable_cameras: true
+    headless: false
+    livestream: 0
+    
+scene:
+  name: default_scene_name
+  position: [0, 0, 0]
+  rotation: [1, 0, 0, 0]
+  base_config:
+    name: default_base
+    source: primitive
+    stereotype: ground_plane
+    ground_size: [100,100]
+
+  object_cfg_dict:
+    table:
+      name: simple_table
+      position: [0.5, 0, 0.25]
+      source: primitive
+      stereotype: rigid
+      primitive_type: cuboid
+      primitive_size: [0.5, 1, 0.5]
+      mass: 1e4
+
+    target:
+      name: target
+      position: [0.4, 0.0, 0.5]
+      scale: [0.001, 0.001, 0.001]
+      axis_y_up: true
+      asset_path: asset://objects/omni6DPose/ball/omni6DPose_ball_020/Aligned.usd
+      stereotype: rigid
+      source: local
+
+
+  robot_cfg_dict:
+    robot:
+      name: my_robot
+      asset_path: asset://Franka/franka_robotiq_2f85_zedmini.usd
+      position: [0, 0, 0]
+      stereotype: single_gripper_arm_robot
+      source: local
+      init_joint_position:
+        panda_joint2: -0.1633
+        panda_joint4: -1.070
+        panda_joint6: 0.8933
+        panda_joint7: 0.785
+      
+      arm_actuator_name: franka_arm
+      gripper_actuator_name: robotiq_2f_85
+
+      use_planner: true
+      planner_cfg:
+        stereotype: curobo
+        lazy_init: true
+        robot_config_file: asset://curobo/franka_robotiq_2f85/franka_robotiq_2f85.yml
+        world_config_source: stage
+        world_stage_ignore_substrings: [my_robot]
+        world_stage_only_paths: [/World]
+        world_stage_reference_prim_path: /World/Robot/SingleGripperArmRobot/my_robot
+
+  sensor_cfg_dict:
+    front_camera:
+      name: front_camera
+      stereotype: camera
+      position: [0.8, 0.0, 0.8]
+      data_types: [rgb, depth, normals]
+      width: 1280
+      height: 720
+      camera_model: pinhole
+      fix_camera: true
+
+    left_camera:
+      name: left_camera
+      stereotype: camera
+      position: [0.6, 0.7, 0.8]
+      data_types: [rgb, depth, normals]
+      width: 1280
+      height: 720
+      camera_model: pinhole
+      fix_camera: true
+
+    right_camera:
+      name: right_camera
+      stereotype: camera
+      position: [0.6, -0.7, 0.8]
+      data_types: [rgb, depth, normals]
+      width: 1280
+      height: 720
+      camera_model: pinhole
+      fix_camera: true
+
+extension:
+  extension_cfg_dict:
+    my_data_collect:
+      enable: true
+      stereotype: data_collect
+      observer_cfgs:
+        - stereotype: robot_observer
+          name: my_robot
+          observe_joint_positions: true
+          observe_joint_velocities: true
+          observe_joint_accelerations: true
+          observe_joint_position_targets: true
+          observe_joint_velocity_targets: true
+          observe_position: true
+          observe_rotation: true
+          observe_ee_pose: true
+          observe_gripper_state: true
+          observe_gripper_drive_state: true
+        - stereotype: sensor_observer
+          name: front_camera
+          observe_intrinsic_matrix: true
+          observe_extrinsic_matrix: true
+          observe_rgb: true
+          observe_depth: true
+          observe_normals: true
+        - stereotype: sensor_observer
+          name: left_camera
+          observe_intrinsic_matrix: true
+          observe_extrinsic_matrix: true
+          observe_rgb: true
+          observe_depth: true
+          observe_normals: true
+        - stereotype: sensor_observer
+          name: right_camera
+          observe_intrinsic_matrix: true
+          observe_extrinsic_matrix: true
+          observe_rgb: true
+          observe_depth: true
+          observe_normals: true
+
+        - stereotype: task_observer
+          name: task
+
+        - stereotype: object_observer
+          name: target
+          observe_position: true
+          observe_rotation: true
+          observe_scale: true
+          
+    my_benchmark:
+      enable: true
+      stereotype: benchmark
+      data_collector_name: my_data_collect
+      goals:
+        - name: reach_target
+          description: Reach the target
+          stereotype: pose
+          pose_A_source: ee
+          pose_A_params: 
+            robot_name: my_robot
+          pose_B_source: spawnable
+          pose_B_params:
+            spawnable_name: target
+          position_tolerance: 0.005
+      policy:
+        stereotype: starvla
+        robot_name: my_robot
+        object_name: target
+        prompt: pick the cola bottle and place it on the book
+
+policy_server:
+  ckpt_path: checkpoints://0309_qwenpi_droid_cola_post/final_model/pytorch_model.pt
+  ckpt_source: local
+  host: 0.0.0.0
+  port: 5000
+  use_bf16: true
+  unnorm_key: oxe_bridge
+  state_mode: ee_pose7