general: root_paths: asset: /home/zhiyuan/zhujuan/joysim_exp/gen_data/data # Root directory for assets (robots, objects, scene USDs, etc.) checkpoints: /home/zhiyuan/zhujuan/checkpoints output: /home/zhiyuan/zhujuan/joysim_exp/output # Root directory for outputs (recorded data, logs, etc.) simulation: stereotype: isaaclab launch_config: device: cuda enable_cameras: true headless: false livestream: 0 scene: name: kujiale_multispace base_config: stereotype: usd name: _827313_home_workspace_00 source: platform asset_path: platform://scenes/kujiale_multispace/827313_home/workspace_00.usd object_cfg_dict: omni6DPose_can_016: name: omni6DPose_can_016 stereotype: rigid source: local asset_path: asset://objects/omni6DPose/can/omni6DPose_can_016/Aligned.usd scale: - 0.001 - 0.001 - 0.001 position: - 0.15 - -4.02430000000001 - 0.510259093 rotation: - -0.304408012043137 - -0.304408012043137 - 0.638228612805745 - 0.6382286128057448 omni6DPose_book_031: name: omni6DPose_book_031 stereotype: rigid source: local asset_path: asset://objects/omni6DPose/book/omni6DPose_book_031/Aligned.usd scale: - 0.001 - 0.001 - 0.001 position: - 0.15 - -4.152430000000001 - 0.510259093 quaternion: [1, 0, 0, 0] axis_y_up: true robot_cfg_dict: r1pro_dex: name: r1pro_dex asset_path: asset://robots/r1pro/r1pro_dex.usd position: [-0.2, -4.1, 0.0] rotation: [1, 0, 0, 0] stereotype: modular_robot source: local init_joint_position: 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 left_arm_joint3: 0.0 left_arm_joint4: -1.0 left_arm_joint5: 0.0 left_arm_joint6: 0.0 left_arm_joint7: 0.0 right_arm_joint1: -0.2 right_arm_joint2: -0.05 right_arm_joint3: 0.0 right_arm_joint4: -1.0 right_arm_joint5: 0.1 right_arm_joint6: 0.0 right_arm_joint7: 0.0 actuator_cfg_dict: left_arm: stereotype: arm joint_names_expr: [left_arm_joint1, left_arm_joint2, left_arm_joint3, left_arm_joint4, left_arm_joint5, left_arm_joint6, left_arm_joint7] stiffness: 60000.0 damping: 4000.0 right_arm: stereotype: arm joint_names_expr: [right_arm_joint1, right_arm_joint2, right_arm_joint3, right_arm_joint4, right_arm_joint5, right_arm_joint6, right_arm_joint7] stiffness: 60000.0 damping: 4000.0 left_hand: stereotype: arm joint_names_expr: [left_thumb_CMC_FE, left_thumb_CMC_AA, left_thumb_MCP_FE, left_thumb_MCP_AA, left_thumb_IP, left_index_MCP_FE, left_index_MCP_AA, left_index_PIP, left_index_DIP, left_middle_MCP_FE, left_middle_MCP_AA, left_middle_PIP, left_middle_DIP, left_ring_MCP_FE, left_ring_MCP_AA, left_ring_PIP, left_ring_DIP, left_pinky_CMC, left_pinky_MCP_FE, left_pinky_MCP_AA, left_pinky_PIP, left_pinky_DIP] stiffness: 50.0 damping: 5.0 right_hand: stereotype: arm joint_names_expr: [right_thumb_CMC_FE, right_thumb_CMC_AA, right_thumb_MCP_FE, right_thumb_MCP_AA, right_thumb_IP, right_index_MCP_FE, right_index_MCP_AA, right_index_PIP, right_index_DIP, right_middle_MCP_FE, right_middle_MCP_AA, right_middle_PIP, right_middle_DIP, right_ring_MCP_FE, right_ring_MCP_AA, right_ring_PIP, right_ring_DIP, right_pinky_CMC, right_pinky_MCP_FE, right_pinky_MCP_AA, right_pinky_PIP, right_pinky_DIP] stiffness: 50.0 damping: 5.0 torso: stereotype: arm joint_names_expr: [torso_joint1, torso_joint2, torso_joint3, torso_joint4] stiffness: 100000.0 damping: 8000.0 base_lock: stereotype: arm joint_names_expr: [steer_motor_joint1, steer_motor_joint2, steer_motor_joint3, wheel_motor_joint1, wheel_motor_joint2, wheel_motor_joint3] stiffness: 100000.0 damping: 5000.0 arm_modules: left_arm: arm_actuator_name: left_arm ee_link_name: left_hand_C_MC ee_type: dexterous_hand ee_actuator_name: left_hand right_arm: arm_actuator_name: right_arm ee_link_name: right_hand_C_MC ee_type: dexterous_hand ee_actuator_name: right_hand extra_modules: torso: actuator_name: torso use_planner: false sensor_cfg_dict: head_camera: name: head_camera stereotype: camera data_types: [rgb] width: 1280 height: 720 camera_model: pinhole fix_camera: true focal_length: 2.8 horizontal_aperture: 4.890881131191918 vertical_aperture: 2.7608816125932627 convention: opengl attach_to: target_name: r1pro_dex is_articulation_part: true articulation_part_name: zed_link create_fixed_joint: true local_position: [0.0, 0.0, 0.0] local_rotation: - 0.33 - 1.0 - -0.0 - 0.0 front_camera: name: front_camera stereotype: camera position: [2, -4.1, 1.8] look_at: is_point: true look_at_point: [0.0, -4.1, 1.2] data_types: [rgb] width: 1280 height: 720 camera_model: pinhole fix_camera: true left_camera: name: left_camera stereotype: camera position: [-0.58554, -2.0, 1.8] look_at: is_point: true look_at_point: [0.0, -4.1, 1.2] data_types: [rgb] width: 1280 height: 720 camera_model: pinhole fix_camera: true right_camera: name: right_camera stereotype: camera position: [0.36816, -5.36, 1.8] look_at: is_point: true look_at_point: [0.0, -4.1, 1.2] data_types: [rgb] width: 1280 height: 720 camera_model: pinhole fix_camera: true light_cfg_dict: sun: name: sun stereotype: general_light light_type: distant position: [0, 0, 5] rotation: [1, 0, 0, 0] intensity: 1000 angle: 0.53 color: [1.0, 1.0, 1.0] sky: name: sky stereotype: general_light light_type: dome intensity: 10.0 color: [1.0, 1.0, 1.0] extension: extension_cfg_dict: benchmark_data_collect: enable: true stereotype: data_collect observer_cfgs: - stereotype: robot_observer name: r1pro_dex target_joint_names: - left_thumb_CMC_FE - left_thumb_CMC_AA - left_thumb_MCP_FE - left_thumb_MCP_AA - left_thumb_IP - left_index_MCP_FE - left_index_MCP_AA - left_index_PIP - left_index_DIP - left_middle_MCP_FE - left_middle_MCP_AA - left_middle_PIP - left_middle_DIP - left_ring_MCP_FE - left_ring_MCP_AA - left_ring_PIP - left_ring_DIP - left_pinky_CMC - left_pinky_MCP_FE - left_pinky_MCP_AA - left_pinky_PIP - left_pinky_DIP - right_thumb_CMC_FE - right_thumb_CMC_AA - right_thumb_MCP_FE - right_thumb_MCP_AA - right_thumb_IP - right_index_MCP_FE - right_index_MCP_AA - right_index_PIP - right_index_DIP - right_middle_MCP_FE - right_middle_MCP_AA - right_middle_PIP - right_middle_DIP - right_ring_MCP_FE - right_ring_MCP_AA - right_ring_PIP - right_ring_DIP - right_pinky_CMC - right_pinky_MCP_FE - right_pinky_MCP_AA - right_pinky_PIP - right_pinky_DIP observe_ee_pose: true observe_ee_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: head_camera observe_rgb: true - stereotype: sensor_observer name: front_camera observe_rgb: true - stereotype: sensor_observer name: left_camera observe_rgb: true - stereotype: sensor_observer name: right_camera observe_rgb: true starvla_benchmark: enable: true stereotype: benchmark data_collector_name: benchmark_data_collect action_frequency: 15.0 timeout_per_episode: 300 goals: - name: can on top of book description: check if the can is on the book stereotype: on_top object_A_name: omni6DPose_book_031 object_B_name: omni6DPose_can_016 policy: stereotype: starvla robot_name: r1pro_dex arm_name: right_arm sensor_names: [head_camera] prompt: pick up the can and put on the book run_trunk_size: 16 visualize_action_ee_pose: true visualize_state_ee_pose: true 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: 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", "preview_video"] policy_server: ckpt_path: checkpoints://egodex_part1_restats_gbs1024/checkpoints/steps_70000_pytorch_model.pt ckpt_source: local host: 0.0.0.0 port: 5000 use_bf16: true