general:
  scan_project: true
  root_paths:
    asset: /home/ubuntu/xionghao/sim_hofee/sim_hofee/assets
    checkpoints: /home/ubuntu/xionghao/starVLA-starVLA/playground/Checkpoints
    output: /home/ubuntu/xionghao/sim_hofee

simulation:
  stereotype: isaaclab
  intiailize_steps: 300
  launch_config:
    device: cuda
    enable_cameras: true
    headless: false
    livestream: 0
    
    
scene:
  name: 827313_home
  base_config:
    stereotype: usd
    name: _827313_home_workspace_01
    source: local
    asset_path: asset://scenes/kujiale_multispace/827313_home/workspace_01.usd
  object_cfg_dict:
    omni6DPose_timer_017:
      name: omni6DPose_timer_017
      stereotype: rigid
      source: local
      asset_path: asset://objects/omni6DPose/timer/omni6DPose_timer_017/Aligned.usd
      scale:
      - 0.001
      - 0.001
      - 0.001
      position:
      - 0.552364
      - -4.0582599999999995
      - 0.524713118
      quaternion:
      - 0.166210542394157
      - 0.166210542394157
      - 0.6872947370648492
      - 0.6872947370648491
      axis_y_up: true
    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:
      - 0.6623640000000001
      - -3.7882599999999997
      - 0.5101601435
      quaternion:
      - 0.7063055546421202
      - 0.7063055546421203
      - -0.03365209475927027
      - -0.033652094759270265
      axis_y_up: true
  robot_cfg_dict:
    Franka_Robotiq_2f85:
      name: Franka_Robotiq_2f85
      asset_path: asset://Franka/franka_robotiq_2f85_zedmini.usd
      position:
      - 1.082364
      - -3.92826
      - 0.47629299999999997
      rotation: 
      - 7.549799991308018e-08
      - 0.0
      - 0.0
      - 0.9999999999999973
      stereotype: modular_robot
      source: local
      ee_link_name: panda_link8
      ik_joint_names:
        - panda_joint1
        - panda_joint2
        - panda_joint3
        - panda_joint4
        - panda_joint5
        - panda_joint6
        - panda_joint7
      init_joint_position:
        # panda_joint1: 0.18641542
        # panda_joint2: 0.47660449
        # panda_joint3: -0.03320411
        # panda_joint4: -2.27693725
        # panda_joint5: 0.98161776
        # panda_joint6: 2.20247197
        # panda_joint7: 0.71794897
        panda_joint2: -0.1633
        panda_joint4: -1.07
        panda_joint6: 0.8933
        panda_joint7: 0.785
      arm_modules:
        main_arm:
          arm_actuator_name: franka_arm
          ee_link_name: panda_link8
          ee_type: gripper
          ee_actuator_name: robotiq_gripper
      actuator_cfg_dict:
        franka_arm:
          stereotype: arm
          joint_names_expr: [panda_joint1, panda_joint2, panda_joint3, panda_joint4, panda_joint5, panda_joint6, panda_joint7]
          stiffness: 3000.0
          damping: 800.0
        robotiq_gripper:
          stereotype: gripper
          joint_names_expr: [robotiq_85_left_knuckle_joint]
          stiffness: 10000
          damping: 500.0
          close_control_type: velocity
          open_control_type: position
          drive_joints:
            robotiq_85_left_knuckle_joint:
              close_velocity: 5.0
              open_velocity: -5.0
              close_position: 0.8
              open_position: 0.0
      use_planner: false
  sensor_cfg_dict:
    Hand_Camera:
      name: Hand_Camera
      stereotype: camera
      data_types:
      - rgb
      - depth
      - normals
      width: 1280
      height: 720
      camera_model: pinhole
      fix_camera: true
      focal_length: 2.8
      horizontal_aperture: 4.893416860031241
      vertical_aperture: 2.7608816125932627
      convention: opengl
      attach_to:
        target_name: Franka_Robotiq_2f85
        is_articulation_part: true
        articulation_part_name: panda_link8
        create_fixed_joint: true
        local_position:
        - -0.07128738160694643
        - 0.03551506300731732
        - 0.018927748370281355
        local_rotation:
        - -0.12117023430710862
        - -0.6862313269668
        - 0.7070213671685396
        - 0.12052023305019997
    Left_Camera:
      name: Left_Camera
      stereotype: camera
      data_types:
      - rgb
      - depth
      - normals
      width: 1280
      height: 720
      camera_model: pinhole
      fix_camera: false
      focal_length: 2.1
      horizontal_aperture: 5.030789363390793
      vertical_aperture: 2.833796298140747
      convention: opengl
      attach_to:
        target_name: Franka_Robotiq_2f85
        local_position:
        - 0.31702696813014064
        - -0.3844238699868664
        - 0.6551552990137672
        local_rotation:
        - 0.8742457685173938
        - 0.38378563025938384
        - -0.11951449178007277
        - -0.27224843891267797
    Right_Camera:
      name: Right_Camera
      stereotype: camera
      data_types:
      - rgb
      - depth
      - normals
      width: 1280
      height: 720
      camera_model: pinhole
      fix_camera: false
      focal_length: 2.1
      horizontal_aperture: 5.050364265142387
      vertical_aperture: 2.833796298140747
      convention: opengl
      attach_to:
        target_name: Franka_Robotiq_2f85
        local_position:
        - 0.21844487914880717
        - 0.20172329179193413
        - 0.30108042236545296
        local_rotation:
        - -0.5316249212230874
        - -0.38697158527836417
        - 0.44338617110944967
        - 0.6091277686910994

extension:
  extension_cfg_dict:
    benchmark_data_collect:
      enable: true
      stereotype: data_collect
      observer_cfgs:
        - stereotype: robot_observer
          name: Franka_Robotiq_2f85
          target_joint_names: [panda_joint1, panda_joint2, panda_joint3, panda_joint4, panda_joint5, panda_joint6, panda_joint7, robotiq_85_left_knuckle_joint]
          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: Hand_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: cola on top of book
          description: check if the cola bottle is on the book
          stereotype: on_top
          object_A_name: omni6DPose_book_031
          object_B_name: omni6DPose_timer_017
      policy:
        stereotype: starvla
        robot_name: Franka_Robotiq_2f85
        arm_name: main_arm
        sensor_names: [Hand_Camera, Left_Camera, Right_Camera]
        prompt: pick up the timer and put on the book
        run_trunk_size: 16
        gripper_width_mapper_file: ./gripper_width_robotiq_2f85_fixed.json
        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"]

policy_server:
  # ckpt_path: checkpoints://0324_qwenpi_droid_pretrain_8node/checkpoints/steps_30000_pytorch_model.pt
  # ckpt_path: checkpoints://0405_qwenpi_droid_norm_pretrain_8node/checkpoints/steps_60000_pytorch_model.pt
  # ckpt_path: checkpoints://0407_qwenpi_droid_postrain/final_model/pytorch_model.pt
  ckpt_path: checkpoints://0407_qwenpi_droid_from_scratch/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