general:
  scan_project: true
  root_paths:
    asset: /home/ubuntu/projects/gen_data/data
    checkpoints: /home/ubuntu/data/models
    output: /home/ubuntu/output

simulation:
  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: local
    asset_path: asset://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:
      - 0.0
      - -3.79243
      - 0.5
      quaternion:
      - -0.304408012043137
      - -0.304408012043137
      - 0.638228612805745
      - 0.6382286128057448
      axis_y_up: true
    omni6DPose_plug_001:
      name: omni6DPose_plug_001
      stereotype: rigid
      source: local
      asset_path: asset://objects/omni6DPose/plug/omni6DPose_plug_001/Aligned.usd
      scale:
      - 0.001
      - 0.001
      - 0.001
      position:
      - 0.419859
      - -4.152430000000001
      - 0.510259093
      quaternion:
      - 0.7070997233636068
      - 0.707099723363607
      - 0.003159306745230588
      - 0.003159306745230588
      axis_y_up: true
  robot_cfg_dict:
    Franka:
      name: Franka
      asset_path: asset://Franka/franka_robotiq_2f85_zedmini.usd
      position:
      - -0.3779152929316859
      - -3.943187336951741
      - 0.3130090550954169
      rotation:
      - 0.9987576855319703
      - 0.0
      - 0.0
      - 0.04983056883903615
      stereotype: single_gripper_arm_robot
      source: local
      init_joint_position:
        panda_joint2: -0.1633
        panda_joint4: -1.07
        panda_joint6: 0.8933
        panda_joint7: 0.785
      arm_actuator_name: franka_arm
      gripper_actuator_name: robotiq_2f_85
      use_planner: true
      planner_cfg:
        stereotype: curobo
        lazy_init: true
        robot_config_file: asset://curobo/franka_robotiq_2f85/franka_robotiq_2f85.yml
        world_config_source: stage
  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: 4.890881131191918
      vertical_aperture: 2.7608816125932627
      convention: opengl
      attach_to:
        target_name: Franka
        is_articulation_part: true
        articulation_part_name: panda_link8
        create_fixed_joint: true
        local_position:
        - -0.07176474936469446
        - 0.02890958100382394
        - 0.01978286477078585
        local_rotation:
        - 0.12352531576657892
        - 0.7000519980574638
        - -0.6933396337721066
        - -0.11810524383481495
    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: 5.019302546405283
      vertical_aperture: 2.833796298140747
      convention: opengl
      attach_to:
        target_name: Franka
        local_position:
        - -0.07383269512283744
        - -0.4566116797983716
        - 0.5664518136443555
        local_rotation:
        - 0.7669289562134721
        - 0.4437472984144337
        - -0.232167881174614
        - -0.4012560108236337
    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: 5.053278483887542
      vertical_aperture: 2.833796298140747
      convention: opengl
      attach_to:
        target_name: Franka
        local_position:
        - 0.4501524009531093
        - 0.7206899873248545
        - 0.27525652672526973
        local_rotation:
        - 0.007056820167439314
        - 0.007107689842383092
        - 0.709606075042274
        - 0.7045274304789896

extension:
  extension_cfg_dict:
    benchmark_data_collect:
      enable: true
      stereotype: data_collect
      observer_cfgs:
        - stereotype: robot_observer
          name: Franka
          observe_ee_pose: true
          observe_gripper_state: true
          observe_gripper_drive_state: 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
      goals:
        - name: cola on top of book
          description: check if the cola bottle is on the book
          stereotype: on_top
          object_A_name: omni6DPose_plug_001
          object_B_name: omni6DPose_can_016
      policy:
        stereotype: starvla
        robot_name: Franka
        sensor_names: [Hand_Camera, Left_Camera, Right_Camera]
        prompt: pick the cola bottle and place it on the book

    recorder:
      enable: false # set to true to record the data
      stereotype: record
      data_collector_name: benchmark_data_collect
      record_fps: 30
      backend_root_path: output://benchmark_record

policy_server:
  ckpt_path: checkpoints://0309_qwenpi_droid_cola_post/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