general: scan_project: true root_paths: asset: /home/zhiyuan/zhujuan/joysim/gen_data/data # Root directory for assets (robots, objects, scene USDs, etc.) checkpoints: /home/zhiyuan/zhujuan/checkpoints output: /home/zhiyuan/zhujuan/joysim/output # Root directory for outputs (recorded data, logs, etc.) 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: platform asset_path: platform://scenes/kujiale_multispace/827313_home/collect_asset_without_phy.optimized.glb object_cfg_dict: omni6DPose_timer_017: name: omni6DPose_timer_017 stereotype: rigid source: platform asset_path: platform://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: platform asset_path: platform://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: r1pro_dex: name: r1pro_dex asset_path: asset://robots/r1pro/r1pro_dex.usd position: - 1.082364 - -3.92826 - 0.47629299999999997 rotation: - 7.549799991308018e-08 - 0.0 - 0.0 - 0.9999999999999973 stereotype: modular_robot source: local arm_modules: main_arm: arm_actuator_name: dex_arm ee_actuator_name: robot_hand ee_type: dexterous_hand actuator_cfg_dict: dex_arm: stereotype: arm joint_names_expr: [ left_arm_joint1, right_arm_joint1, left_arm_joint2, right_arm_joint2, left_arm_joint3, right_arm_joint3, left_arm_joint4, right_arm_joint4, left_arm_joint5, right_arm_joint5, left_arm_joint6, right_arm_joint6, left_arm_joint7, right_arm_joint7] stiffness: 3000.0 damping: 800.0 robot_hand: stereotype: dexterous_hand joint_names_expr: [ left_index_MCP_FE, left_middle_MCP_FE, left_pinky_CMC, left_ring_MCP_FE, left_thumb_CMC_FE, right_index_MCP_FE, right_middle_MCP_FE, right_pinky_CMC, right_ring_MCP_FE, right_thumb_CMC_FE, left_index_MCP_AA, left_middle_MCP_AA, left_pinky_MCP_FE, left_ring_MCP_AA, left_thumb_CMC_AA, right_index_MCP_AA, right_middle_MCP_AA, right_pinky_MCP_FE, right_ring_MCP_AA, right_thumb_CMC_AA, left_index_PIP, left_middle_PIP, left_pinky_MCP_AA, left_ring_PIP, left_thumb_MCP_FE, right_index_PIP, right_middle_PIP, right_pinky_MCP_AA, right_ring_PIP, right_thumb_MCP_FE, left_index_DIP, left_middle_DIP, left_pinky_PIP, left_ring_DIP, left_thumb_MCP_AA, right_index_DIP, right_middle_DIP, right_pinky_PIP, right_ring_DIP, right_thumb_MCP_AA, left_pinky_DIP, left_thumb_IP, right_pinky_DIP, right_thumb_IP] stiffness: 10000 damping: 500.0 close_control_type: velocity open_control_type: position use_planner: false sensor_cfg_dict: Zed_Camera: name: Zed_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: r1pro_dex is_articulation_part: false create_fixed_joint: true local_position: - 0.06 - 0.0 - 0.01 local_rotation: - -1.0 - 0.0 - 0.0 - 0.0 extension: extension_cfg_dict: benchmark_data_collect: enable: true stereotype: data_collect observer_cfgs: - stereotype: robot_observer name: r1pro_dex target_joint_names: [steer_motor_joint1, steer_motor_joint2, steer_motor_joint3, torso_joint1, wheel_motor_joint1, wheel_motor_joint2, wheel_motor_joint3, torso_joint2, torso_joint3, torso_joint4, left_arm_joint1, right_arm_joint1, left_arm_joint2, right_arm_joint2, left_arm_joint3, right_arm_joint3, left_arm_joint4, right_arm_joint4, left_arm_joint5, right_arm_joint5, left_arm_joint6, right_arm_joint6, left_arm_joint7, right_arm_joint7, left_index_MCP_FE, left_middle_MCP_FE, left_pinky_CMC, left_ring_MCP_FE, left_thumb_CMC_FE, right_index_MCP_FE, right_middle_MCP_FE, right_pinky_CMC, right_ring_MCP_FE, right_thumb_CMC_FE, left_index_MCP_AA, left_middle_MCP_AA, left_pinky_MCP_FE, left_ring_MCP_AA, left_thumb_CMC_AA, right_index_MCP_AA, right_middle_MCP_AA, right_pinky_MCP_FE, right_ring_MCP_AA, right_thumb_CMC_AA, left_index_PIP, left_middle_PIP, left_pinky_MCP_AA, left_ring_PIP, left_thumb_MCP_FE, right_index_PIP, right_middle_PIP, right_pinky_MCP_AA, right_ring_PIP, right_thumb_MCP_FE, left_index_DIP, left_middle_DIP, left_pinky_PIP, left_ring_DIP, left_thumb_MCP_AA, right_index_DIP, right_middle_DIP, right_pinky_PIP, right_ring_DIP, right_thumb_MCP_AA, left_pinky_DIP, left_thumb_IP, right_pinky_DIP, right_thumb_IP] 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: Zed_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: r1pro_dex arm_name: main_arm sensor_names: [Zed_Camera] prompt: pick up the timer 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"] 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 unnorm_key: oxe_bridge state_mode: ee_pose7