279 lines
8.1 KiB
YAML
279 lines
8.1 KiB
YAML
general:
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scan_project: true
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root_paths:
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asset: /home/ubuntu/xionghao/sim_hofee/sim_hofee/assets
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checkpoints: /home/ubuntu/xionghao/starVLA-starVLA/playground/Checkpoints
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output: /home/ubuntu/xionghao/sim_hofee
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simulation:
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stereotype: isaaclab
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intiailize_steps: 300
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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: 827313_home
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base_config:
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stereotype: usd
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name: _827313_home_workspace_01
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source: local
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asset_path: asset://scenes/kujiale_multispace/827313_home/workspace_01.usd
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object_cfg_dict:
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omni6DPose_timer_017:
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name: omni6DPose_timer_017
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stereotype: rigid
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source: local
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asset_path: asset://objects/omni6DPose/timer/omni6DPose_timer_017/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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- 0.552364
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- -4.0582599999999995
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- 0.524713118
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quaternion:
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- 0.166210542394157
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- 0.166210542394157
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- 0.6872947370648492
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- 0.6872947370648491
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axis_y_up: true
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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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- 0.6623640000000001
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- -3.7882599999999997
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- 0.5101601435
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quaternion:
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- 0.7063055546421202
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- 0.7063055546421203
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- -0.03365209475927027
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- -0.033652094759270265
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axis_y_up: true
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robot_cfg_dict:
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Franka_Robotiq_2f85:
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name: Franka_Robotiq_2f85
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asset_path: asset://Franka/franka_robotiq_2f85_zedmini.usd
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position:
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- 1.082364
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- -3.92826
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- 0.47629299999999997
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rotation:
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- 7.549799991308018e-08
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- 0.0
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- 0.0
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- 0.9999999999999973
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stereotype: modular_robot
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source: local
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ee_link_name: panda_link8
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ik_joint_names:
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- panda_joint1
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- panda_joint2
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- panda_joint3
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- panda_joint4
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- panda_joint5
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- panda_joint6
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- panda_joint7
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init_joint_position:
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# panda_joint1: 0.18641542
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# panda_joint2: 0.47660449
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# panda_joint3: -0.03320411
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# panda_joint4: -2.27693725
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# panda_joint5: 0.98161776
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# panda_joint6: 2.20247197
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# panda_joint7: 0.71794897
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panda_joint2: -0.1633
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panda_joint4: -1.07
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panda_joint6: 0.8933
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panda_joint7: 0.785
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arm_modules:
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main_arm:
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arm_actuator_name: franka_arm
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ee_link_name: panda_link8
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ee_type: gripper
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ee_actuator_name: robotiq_gripper
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actuator_cfg_dict:
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franka_arm:
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stereotype: arm
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joint_names_expr: [panda_joint1, panda_joint2, panda_joint3, panda_joint4, panda_joint5, panda_joint6, panda_joint7]
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stiffness: 3000.0
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damping: 800.0
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robotiq_gripper:
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stereotype: gripper
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joint_names_expr: [robotiq_85_left_knuckle_joint]
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stiffness: 10000
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damping: 500.0
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close_control_type: velocity
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open_control_type: position
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drive_joints:
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robotiq_85_left_knuckle_joint:
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close_velocity: 5.0
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open_velocity: -5.0
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close_position: 0.8
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open_position: 0.0
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use_planner: false
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sensor_cfg_dict:
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Hand_Camera:
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name: Hand_Camera
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stereotype: camera
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data_types:
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- rgb
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- depth
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- normals
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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: 4.893416860031241
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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: Franka_Robotiq_2f85
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is_articulation_part: true
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articulation_part_name: panda_link8
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create_fixed_joint: true
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local_position:
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- -0.07128738160694643
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- 0.03551506300731732
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- 0.018927748370281355
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local_rotation:
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- -0.12117023430710862
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- -0.6862313269668
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- 0.7070213671685396
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- 0.12052023305019997
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Left_Camera:
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name: Left_Camera
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stereotype: camera
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data_types:
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- rgb
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- depth
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- normals
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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: false
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focal_length: 2.1
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horizontal_aperture: 5.030789363390793
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vertical_aperture: 2.833796298140747
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convention: opengl
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attach_to:
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target_name: Franka_Robotiq_2f85
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local_position:
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- 0.31702696813014064
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- -0.3844238699868664
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- 0.6551552990137672
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local_rotation:
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- 0.8742457685173938
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- 0.38378563025938384
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- -0.11951449178007277
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- -0.27224843891267797
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Right_Camera:
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name: Right_Camera
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stereotype: camera
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data_types:
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- rgb
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- depth
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- normals
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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: false
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focal_length: 2.1
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horizontal_aperture: 5.050364265142387
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vertical_aperture: 2.833796298140747
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convention: opengl
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attach_to:
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target_name: Franka_Robotiq_2f85
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local_position:
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- 0.21844487914880717
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- 0.20172329179193413
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- 0.30108042236545296
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local_rotation:
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- -0.5316249212230874
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- -0.38697158527836417
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- 0.44338617110944967
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- 0.6091277686910994
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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: Franka_Robotiq_2f85
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target_joint_names: [panda_joint1, panda_joint2, panda_joint3, panda_joint4, panda_joint5, panda_joint6, panda_joint7, robotiq_85_left_knuckle_joint]
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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: Hand_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: cola on top of book
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description: check if the cola bottle 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_timer_017
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policy:
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stereotype: starvla
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robot_name: Franka_Robotiq_2f85
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arm_name: main_arm
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sensor_names: [Hand_Camera, Left_Camera, Right_Camera]
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prompt: pick up the timer and put on the book
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run_trunk_size: 16
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gripper_width_mapper_file: ./gripper_width_robotiq_2f85_fixed.json
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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"]
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policy_server:
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# ckpt_path: checkpoints://0324_qwenpi_droid_pretrain_8node/checkpoints/steps_30000_pytorch_model.pt
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# ckpt_path: checkpoints://0405_qwenpi_droid_norm_pretrain_8node/checkpoints/steps_60000_pytorch_model.pt
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# ckpt_path: checkpoints://0407_qwenpi_droid_postrain/final_model/pytorch_model.pt
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ckpt_path: checkpoints://0407_qwenpi_droid_from_scratch/final_model/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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unnorm_key: oxe_bridge
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state_mode: ee_pose7 |