325 lines
10 KiB
YAML
325 lines
10 KiB
YAML
general:
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root_paths:
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asset: /home/zhiyuan/zhujuan/joysim_exp/gen_data/data # Root directory for assets (robots, objects, scene USDs, etc.)
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checkpoints: /home/zhiyuan/zhujuan/checkpoints
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output: /home/zhiyuan/zhujuan/joysim_exp/output # Root directory for outputs (recorded data, logs, etc.)
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simulation:
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stereotype: isaaclab
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launch_config:
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device: cuda
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enable_cameras: true
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headless: false
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livestream: 0
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scene:
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name: kujiale_multispace
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base_config:
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stereotype: usd
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name: _827313_home_workspace_00
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source: platform
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asset_path: platform://scenes/kujiale_multispace/827313_home/workspace_00.usd
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object_cfg_dict:
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omni6DPose_can_016:
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name: omni6DPose_can_016
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stereotype: rigid
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source: local
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asset_path: asset://objects/omni6DPose/can/omni6DPose_can_016/Aligned.usd
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scale:
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- 0.001
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- 0.001
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- 0.001
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position:
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- 0.15
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- -4.02430000000001
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- 0.510259093
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rotation:
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- -0.304408012043137
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- -0.304408012043137
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- 0.638228612805745
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- 0.6382286128057448
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omni6DPose_book_031:
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name: omni6DPose_book_031
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stereotype: rigid
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source: local
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asset_path: asset://objects/omni6DPose/book/omni6DPose_book_031/Aligned.usd
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scale:
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- 0.001
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- 0.001
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- 0.001
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position:
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- 0.15
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- -4.152430000000001
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- 0.510259093
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quaternion: [1, 0, 0, 0]
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axis_y_up: true
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robot_cfg_dict:
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r1pro_dex:
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name: r1pro_dex
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asset_path: asset://robots/r1pro/r1pro_dex.usd
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position: [-0.2, -4.1, 0.0]
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rotation: [1, 0, 0, 0]
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stereotype: modular_robot
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source: local
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init_joint_position:
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torso_joint1: -1.1
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torso_joint2: 2.4
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torso_joint3: 1.0
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torso_joint4: 0.0
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left_arm_joint1: -0.2
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left_arm_joint2: 0.05
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left_arm_joint3: 0.0
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left_arm_joint4: -1.0
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left_arm_joint5: 0.0
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left_arm_joint6: 0.0
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left_arm_joint7: 0.0
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right_arm_joint1: -0.2
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right_arm_joint2: -0.05
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right_arm_joint3: 0.0
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right_arm_joint4: -1.0
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right_arm_joint5: 0.1
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right_arm_joint6: 0.0
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right_arm_joint7: 0.0
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actuator_cfg_dict:
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left_arm:
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stereotype: arm
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joint_names_expr: [left_arm_joint1, left_arm_joint2, left_arm_joint3, left_arm_joint4, left_arm_joint5, left_arm_joint6, left_arm_joint7]
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stiffness: 60000.0
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damping: 4000.0
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right_arm:
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stereotype: arm
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joint_names_expr: [right_arm_joint1, right_arm_joint2, right_arm_joint3, right_arm_joint4, right_arm_joint5, right_arm_joint6, right_arm_joint7]
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stiffness: 60000.0
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damping: 4000.0
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left_hand:
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stereotype: arm
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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]
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stiffness: 50.0
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damping: 5.0
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right_hand:
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stereotype: arm
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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]
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stiffness: 50.0
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damping: 5.0
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torso:
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stereotype: arm
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joint_names_expr: [torso_joint1, torso_joint2, torso_joint3, torso_joint4]
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stiffness: 100000.0
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damping: 8000.0
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base_lock:
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stereotype: arm
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joint_names_expr: [steer_motor_joint1, steer_motor_joint2, steer_motor_joint3, wheel_motor_joint1, wheel_motor_joint2, wheel_motor_joint3]
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stiffness: 100000.0
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damping: 5000.0
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arm_modules:
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left_arm:
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arm_actuator_name: left_arm
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ee_link_name: left_hand_C_MC
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ee_type: dexterous_hand
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ee_actuator_name: left_hand
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right_arm:
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arm_actuator_name: right_arm
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ee_link_name: right_hand_C_MC
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ee_type: dexterous_hand
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ee_actuator_name: right_hand
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extra_modules:
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torso:
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actuator_name: torso
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use_planner: false
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sensor_cfg_dict:
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head_camera:
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name: head_camera
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stereotype: camera
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data_types: [rgb]
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width: 1280
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height: 720
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camera_model: pinhole
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fix_camera: true
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focal_length: 2.8
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horizontal_aperture: 4.890881131191918
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vertical_aperture: 2.7608816125932627
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convention: opengl
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attach_to:
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target_name: r1pro_dex
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is_articulation_part: true
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articulation_part_name: zed_link
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create_fixed_joint: true
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local_position: [0.0, 0.0, 0.0]
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local_rotation:
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- 0.33
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- 1.0
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- -0.0
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- 0.0
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front_camera:
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name: front_camera
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stereotype: camera
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position: [2, -4.1, 1.5]
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look_at:
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is_point: true
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look_at_point: [0.0, -4.1, 0.6]
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data_types: [rgb]
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width: 1280
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height: 720
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camera_model: pinhole
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fix_camera: true
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left_camera:
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name: left_camera
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stereotype: camera
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position: [-0.58554, -2.0, 1.2]
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look_at:
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is_point: true
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look_at_point: [0.0, -4.1, 0.6]
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data_types: [rgb]
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width: 1280
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height: 720
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camera_model: pinhole
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fix_camera: true
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right_camera:
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name: right_camera
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stereotype: camera
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position: [0.36816, -5.36, 1.53]
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look_at:
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is_point: true
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look_at_point: [0.0, -4.1, 0.6]
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data_types: [rgb]
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width: 1280
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height: 720
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camera_model: pinhole
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fix_camera: true
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light_cfg_dict:
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sun:
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name: sun
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stereotype: general_light
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light_type: distant
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position: [0, 0, 5]
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rotation: [1, 0, 0, 0]
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intensity: 1000
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angle: 0.53
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color: [1.0, 1.0, 1.0]
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sky:
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name: sky
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stereotype: general_light
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light_type: dome
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intensity: 10.0
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color: [1.0, 1.0, 1.0]
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extension:
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extension_cfg_dict:
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benchmark_data_collect:
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enable: true
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stereotype: data_collect
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observer_cfgs:
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- stereotype: robot_observer
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name: r1pro_dex
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target_joint_names:
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- left_thumb_CMC_FE
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- left_thumb_CMC_AA
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- left_thumb_MCP_FE
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- left_thumb_MCP_AA
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- left_thumb_IP
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- left_index_MCP_FE
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- left_index_MCP_AA
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- left_index_PIP
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- left_index_DIP
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- left_middle_MCP_FE
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- left_middle_MCP_AA
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- left_middle_PIP
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- left_middle_DIP
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- left_ring_MCP_FE
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- left_ring_MCP_AA
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- left_ring_PIP
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- left_ring_DIP
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- left_pinky_CMC
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- left_pinky_MCP_FE
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- left_pinky_MCP_AA
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- left_pinky_PIP
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- left_pinky_DIP
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- right_thumb_CMC_FE
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- right_thumb_CMC_AA
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- right_thumb_MCP_FE
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- right_thumb_MCP_AA
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- right_thumb_IP
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- right_index_MCP_FE
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- right_index_MCP_AA
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- right_index_PIP
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- right_index_DIP
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- right_middle_MCP_FE
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- right_middle_MCP_AA
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- right_middle_PIP
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- right_middle_DIP
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- right_ring_MCP_FE
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- right_ring_MCP_AA
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- right_ring_PIP
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- right_ring_DIP
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- right_pinky_CMC
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- right_pinky_MCP_FE
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- right_pinky_MCP_AA
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- right_pinky_PIP
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- right_pinky_DIP
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observe_ee_pose: true
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observe_ee_state: true
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observe_joint_position: true
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observe_joint_velocity: true
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observe_joint_positions: true
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observe_joint_velocities: true
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observe_joint_accelerations: true
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observe_joint_position_targets: true
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observe_joint_velocity_targets: true
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- stereotype: sensor_observer
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name: head_camera
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observe_rgb: true
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- stereotype: sensor_observer
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name: front_camera
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observe_rgb: true
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- stereotype: sensor_observer
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name: left_camera
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observe_rgb: true
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- stereotype: sensor_observer
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name: right_camera
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observe_rgb: true
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starvla_benchmark:
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enable: true
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stereotype: benchmark
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data_collector_name: benchmark_data_collect
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action_frequency: 15.0
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timeout_per_episode: 300
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goals:
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- name: can on top of book
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description: check if the can is on the book
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stereotype: on_top
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object_A_name: omni6DPose_book_031
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object_B_name: omni6DPose_can_016
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policy:
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stereotype: starvla
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robot_name: r1pro_dex
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arm_name: right_arm
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sensor_names: [head_camera]
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prompt: pick up the can and put on the book
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run_trunk_size: 16
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visualize_action_ee_pose: true
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visualize_state_ee_pose: true
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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
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recorder:
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enable: true # set to true to record the data
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stereotype: record
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data_collector_name: benchmark_data_collect
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record_fps: 30
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backend_root_path: output://benchmark_record
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postprocess_list: ["hdf5", "video", "preview_video"]
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policy_server:
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ckpt_path: checkpoints://egodex_part1_restats_gbs1024/checkpoints/steps_70000_pytorch_model.pt
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ckpt_source: local
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host: 0.0.0.0
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port: 5000
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use_bf16: true
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