216 lines
7.7 KiB
YAML
216 lines
7.7 KiB
YAML
general:
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scan_project: true
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root_paths:
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asset: /home/zhiyuan/zhujuan/joysim/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/output # Root directory for outputs (recorded data, logs, etc.)
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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: platform
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asset_path: platform://scenes/kujiale_multispace/827313_home/collect_asset_without_phy.optimized.glb
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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: platform
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asset_path: platform://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: platform
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asset_path: platform://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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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:
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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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arm_modules:
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main_arm:
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arm_actuator_name: dex_arm
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ee_actuator_name: robot_hand
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ee_type: dexterous_hand
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actuator_cfg_dict:
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dex_arm:
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stereotype: arm
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joint_names_expr: [
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left_arm_joint1, right_arm_joint1, left_arm_joint2, right_arm_joint2,
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left_arm_joint3, right_arm_joint3, left_arm_joint4, right_arm_joint4,
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left_arm_joint5, right_arm_joint5, left_arm_joint6, right_arm_joint6,
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left_arm_joint7, right_arm_joint7]
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stiffness: 3000.0
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damping: 800.0
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robot_hand:
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stereotype: dexterous_hand
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joint_names_expr: [
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left_index_MCP_FE, left_middle_MCP_FE, left_pinky_CMC, left_ring_MCP_FE, left_thumb_CMC_FE,
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right_index_MCP_FE, right_middle_MCP_FE, right_pinky_CMC, right_ring_MCP_FE, right_thumb_CMC_FE,
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left_index_MCP_AA, left_middle_MCP_AA, left_pinky_MCP_FE, left_ring_MCP_AA, left_thumb_CMC_AA,
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right_index_MCP_AA, right_middle_MCP_AA, right_pinky_MCP_FE, right_ring_MCP_AA, right_thumb_CMC_AA,
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left_index_PIP, left_middle_PIP, left_pinky_MCP_AA, left_ring_PIP, left_thumb_MCP_FE,
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right_index_PIP, right_middle_PIP, right_pinky_MCP_AA, right_ring_PIP, right_thumb_MCP_FE,
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left_index_DIP, left_middle_DIP, left_pinky_PIP, left_ring_DIP, left_thumb_MCP_AA,
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right_index_DIP, right_middle_DIP, right_pinky_PIP, right_ring_DIP, right_thumb_MCP_AA,
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left_pinky_DIP, left_thumb_IP, right_pinky_DIP, right_thumb_IP]
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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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use_planner: false
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sensor_cfg_dict:
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Zed_Camera:
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name: Zed_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: r1pro_dex
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is_articulation_part: false
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create_fixed_joint: true
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local_position:
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- 0.06
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- 0.0
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- 0.01
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local_rotation:
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- -1.0
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- 0.0
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- 0.0
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- 0.0
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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: [steer_motor_joint1, steer_motor_joint2, steer_motor_joint3, torso_joint1, wheel_motor_joint1,
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wheel_motor_joint2, wheel_motor_joint3, torso_joint2, torso_joint3, torso_joint4,
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left_arm_joint1, right_arm_joint1, left_arm_joint2, right_arm_joint2,
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left_arm_joint3, right_arm_joint3, left_arm_joint4, right_arm_joint4,
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left_arm_joint5, right_arm_joint5, left_arm_joint6, right_arm_joint6,
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left_arm_joint7, right_arm_joint7,
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left_index_MCP_FE, left_middle_MCP_FE, left_pinky_CMC, left_ring_MCP_FE, left_thumb_CMC_FE,
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right_index_MCP_FE, right_middle_MCP_FE, right_pinky_CMC, right_ring_MCP_FE, right_thumb_CMC_FE,
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left_index_MCP_AA, left_middle_MCP_AA, left_pinky_MCP_FE, left_ring_MCP_AA, left_thumb_CMC_AA,
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right_index_MCP_AA, right_middle_MCP_AA, right_pinky_MCP_FE, right_ring_MCP_AA, right_thumb_CMC_AA,
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left_index_PIP, left_middle_PIP, left_pinky_MCP_AA, left_ring_PIP, left_thumb_MCP_FE,
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right_index_PIP, right_middle_PIP, right_pinky_MCP_AA, right_ring_PIP, right_thumb_MCP_FE,
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left_index_DIP, left_middle_DIP, left_pinky_PIP, left_ring_DIP, left_thumb_MCP_AA,
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right_index_DIP, right_middle_DIP, right_pinky_PIP, right_ring_DIP, right_thumb_MCP_AA,
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left_pinky_DIP, left_thumb_IP, right_pinky_DIP, right_thumb_IP]
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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: Zed_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: r1pro_dex
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arm_name: main_arm
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sensor_names: [Zed_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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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://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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unnorm_key: oxe_bridge
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state_mode: ee_pose7
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