hofee/starvla_benchmark
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add debug code for replay

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This commit is contained in:
Zhu Juan
2026-06-15 14:35:18 +08:00
parent cbf0edfcae
commit e99f6a0589
2 changed files with 50 additions and 12 deletions
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18
benchmark.yaml
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@@ -63,9 +63,9 @@ scene:
source: local
init_joint_position:
torso_joint1: -1.1
torso_joint2: 2.4
torso_joint3: 1.0
torso_joint1: 0.0
torso_joint2: 0.0
torso_joint3: 0.0
torso_joint4: 0.0
left_arm_joint1: -0.2
left_arm_joint2: 0.05
@@ -160,10 +160,10 @@ scene:
front_camera:
name: front_camera
stereotype: camera
position: [2, -4.1, 1.5]
position: [2, -4.1, 1.8]
look_at:
is_point: true
look_at_point: [0.0, -4.1, 0.6]
look_at_point: [0.0, -4.1, 1.2]
data_types: [rgb]
width: 1280
height: 720
@@ -172,10 +172,10 @@ scene:
left_camera:
name: left_camera
stereotype: camera
position: [-0.58554, -2.0, 1.2]
position: [-0.58554, -2.0, 1.8]
look_at:
is_point: true
look_at_point: [0.0, -4.1, 0.6]
look_at_point: [0.0, -4.1, 1.2]
data_types: [rgb]
width: 1280
height: 720
@@ -184,10 +184,10 @@ scene:
right_camera:
name: right_camera
stereotype: camera
position: [0.36816, -5.36, 1.53]
position: [0.36816, -5.36, 1.8]
look_at:
is_point: true
look_at_point: [0.0, -4.1, 0.6]
look_at_point: [0.0, -4.1, 1.2]
data_types: [rgb]
width: 1280
height: 720