297 lines
9.2 KiB
YAML
297 lines
9.2 KiB
YAML
general:
|
|
root_paths:
|
|
asset: /home/zhiyuan/zhujuan/joysim_exp/gen_data/data # Root directory for assets (robots, objects, scene USDs, etc.)
|
|
checkpoints: /home/zhiyuan/zhujuan/checkpoints
|
|
output: /home/zhiyuan/zhujuan/joysim_exp/output # Root directory for outputs (recorded data, logs, etc.)
|
|
|
|
simulation:
|
|
stereotype: isaaclab
|
|
launch_config:
|
|
device: cuda
|
|
enable_cameras: true
|
|
headless: true
|
|
livestream: 0
|
|
scene:
|
|
name: kujiale_multispace
|
|
base_config:
|
|
stereotype: usd
|
|
name: _827313_home_workspace_00
|
|
source: platform
|
|
asset_path: platform://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:
|
|
- 0.15
|
|
- -4.02430000000001
|
|
- 0.510259093
|
|
rotation:
|
|
- -0.304408012043137
|
|
- -0.304408012043137
|
|
- 0.638228612805745
|
|
- 0.6382286128057448
|
|
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:
|
|
- 0.15
|
|
- -4.152430000000001
|
|
- 0.510259093
|
|
quaternion: [1, 0, 0, 0]
|
|
axis_y_up: true
|
|
|
|
robot_cfg_dict:
|
|
r1pro_dex:
|
|
name: r1pro_dex
|
|
asset_path: asset://robots/r1pro/r1pro_dex.usd
|
|
position: [-0.2, -4.1, 0.0]
|
|
rotation: [1, 0, 0, 0]
|
|
stereotype: modular_robot
|
|
source: local
|
|
|
|
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:
|
|
|
|
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
|
|
front_camera:
|
|
name: front_camera
|
|
stereotype: camera
|
|
position: [2, -4.1, 1.8]
|
|
look_at:
|
|
is_point: true
|
|
look_at_point: [0.0, -4.1, 1.2]
|
|
data_types: [rgb]
|
|
width: 1280
|
|
height: 720
|
|
camera_model: pinhole
|
|
fix_camera: true
|
|
left_camera:
|
|
name: left_camera
|
|
stereotype: camera
|
|
position: [-0.58554, -2.0, 1.8]
|
|
look_at:
|
|
is_point: true
|
|
look_at_point: [0.0, -4.1, 1.2]
|
|
data_types: [rgb]
|
|
width: 1280
|
|
height: 720
|
|
camera_model: pinhole
|
|
fix_camera: true
|
|
right_camera:
|
|
name: right_camera
|
|
stereotype: camera
|
|
position: [0.36816, -5.36, 1.8]
|
|
look_at:
|
|
is_point: true
|
|
look_at_point: [0.0, -4.1, 1.2]
|
|
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:
|
|
replay_data_collect:
|
|
enable: true
|
|
stereotype: data_collect
|
|
observer_cfgs:
|
|
- stereotype: robot_observer
|
|
name: r1pro_dex
|
|
target_joint_names:
|
|
- 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
|
|
- 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
|
|
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: head_camera
|
|
observe_rgb: true
|
|
- stereotype: sensor_observer
|
|
name: front_camera
|
|
observe_rgb: true
|
|
- stereotype: sensor_observer
|
|
name: left_camera
|
|
observe_rgb: true
|
|
- stereotype: sensor_observer
|
|
name: right_camera
|
|
observe_rgb: true
|
|
record:
|
|
enable: true # set to true to record the data
|
|
stereotype: record
|
|
data_collector_name: replay_data_collect
|
|
record_backend: lfs
|
|
record_fps: 30
|
|
use_recorder_step: true
|
|
backend_root_path: output://replay_egodex
|
|
postprocess_list: ["hdf5", "video", "preview_video"] |