# ============================================================ # R1Pro-Dex LeRobot replay config (fastsim) # Derived from benchmark.yaml, adapted for offline trajectory # replay driven by replay_lerobot.py. # # Differences vs benchmark.yaml (intentional): # - root_paths fixed for THIS machine. # - kujiale scene + can/book objects dropped (objects are NOT # replayed; the lid-on-cup trajectory is unrelated to that room), # replaced by a ground plane for fast load & clear viewing. # - NO replay / benchmark / policy_server extensions: the motion is # driven from Python (hands set directly, arms solved via IK). # - only data_collect + record extensions remain, to record the # replayed motion back out (hdf5 + video). # ============================================================ general: root_paths: asset: /home/zhiyuan/zhujuan/joysim_exp/gen_data/data output: /home/zhiyuan/zhujuan/joysim_exp/output simulation: stereotype: isaaclab dt: 0.008333333333333333 # 1/120 -> 8 sim steps per 15fps data frame (more IK convergence) launch_config: device: cuda enable_cameras: true headless: true # set false to watch live; true records faster livestream: 0 scene: name: r1pro_dex_lerobot_replay position: [0, 0, 0] rotation: [1, 0, 0, 0] base_config: name: default_base stereotype: ground_plane ground_plane_size: [100, 100] robot_cfg_dict: r1pro_dex: name: r1pro_dex asset_path: asset://robots/r1pro/r1pro_dex.usd position: [0, 0, 0] rotation: [1, 0, 0, 0] stereotype: modular_robot source: local # init pose copied from benchmark.yaml (defines the starting EE pose # that the delta-pose arm replay is anchored to). init_joint_position: torso_joint1: 0.0 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: 0.6 left_arm_joint3: 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: -0.6 right_arm_joint3: 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: 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: # Ego/head view, attached to the robot head — comparable to the source # dataset's observation.images.ego_view. 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] # Third-person view of the whole robot. front_camera: name: front_camera stereotype: camera position: [2.2, 0.0, 1.4] look_at: is_point: true look_at_point: [0.0, 0.0, 1.0] 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: data_collect: enable: true stereotype: data_collect observer_cfgs: - stereotype: robot_observer name: r1pro_dex observe_joint_positions: true observe_joint_velocities: true observe_joint_position_targets: true observe_ee_pose: true - stereotype: sensor_observer name: head_camera observe_rgb: true - stereotype: sensor_observer name: front_camera observe_rgb: true record: enable: true stereotype: record backend_root_path: output://benchmark_replay_record data_collector_name: data_collect record_backend: lfs record_fps: 15 # matches the source dataset fps use_recorder_step: true record_scene: true postprocess_list: [hdf5, video, preview_video]