257 lines
7.3 KiB
YAML
257 lines
7.3 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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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: local
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asset_path: asset://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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- 0.2
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- -4.05243
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- 0.5
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quaternion:
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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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axis_y_up: true
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omni6DPose_can_011:
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name: omni6DPose_can_011
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stereotype: rigid
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source: local
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asset_path: asset://objects/omni6DPose/can/omni6DPose_can_011/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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- 0.219859
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- -3.82430000000001
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- 0.510259093
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quaternion:
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- 0.7070997233636068
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- 0.707099723363607
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- 0.003159306745230588
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- 0.003159306745230588
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axis_y_up: true
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robot_cfg_dict:
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Franka:
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name: Franka
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asset_path: asset://Franka/franka_robotiq_2f85_zedmini.usd
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position:
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- -0.3779152929316859
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- -3.943187336951741
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- 0.3130090550954169
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rotation:
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- 0.9987576855319703
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- 0.0
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- 0.0
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- 0.04983056883903615
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stereotype: single_gripper_arm_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_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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# panda_joint1: 0.00201746
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# panda_joint2: -0.25797674
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# panda_joint3: -0.02563748
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# panda_joint4: -1.68997145
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# panda_joint5: -0.0735122
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# panda_joint6: 1.45765436
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# panda_joint7: 0.56564939
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arm_actuator_name: franka_arm
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gripper_actuator_name: robotiq_2f_85
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use_planner: true
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planner_cfg:
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stereotype: curobo
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lazy_init: true
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robot_config_file: asset://curobo/franka_robotiq_2f85/franka_robotiq_2f85.yml
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world_config_source: stage
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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: 4.890881131191918
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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: Franka
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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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- -0.07176474936469446
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- 0.02890958100382394
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- 0.01978286477078585
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local_rotation:
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- 0.12352531576657892
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- 0.7000519980574638
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- -0.6933396337721066
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- -0.11810524383481495
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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: 5.019302546405283
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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
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local_position:
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- -0.07383269512283744
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- -0.4566116797983716
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- 0.5664518136443555
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local_rotation:
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- 0.7669289562134721
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- 0.4437472984144337
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- -0.232167881174614
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- -0.4012560108236337
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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: 5.053278483887542
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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
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local_position:
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- 0.4501524009531093
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- 0.7206899873248545
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- 0.27525652672526973
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local_rotation:
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- 0.007056820167439314
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- 0.007107689842383092
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- 0.709606075042274
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- 0.7045274304789896
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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
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target_joint_names: [panda_joint1, panda_joint2, panda_joint3, panda_joint4, panda_joint5, panda_joint6, panda_joint7]
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observe_ee_pose: true
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observe_gripper_drive_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_can_016
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object_B_name: omni6DPose_can_011
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policy:
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stereotype: starvla
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robot_name: Franka
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sensor_names: [Hand_Camera, Left_Camera, Right_Camera]
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prompt: pick up the red can on the table
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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: false
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visualize_state_ee_pose: false
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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://0401_qwenpi_droid_pretrain_8node/checkpoints/steps_20000_pytorch_model.p
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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/checkpoints/steps_10000_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 |