starvla_benchmark/benchmark.yaml

general:
  scan_project: true
  root_paths:
    asset: /home/ubuntu/projects/gen_data/data
    output: /home/ubuntu/output
    checkpoints: /home/ubuntu/data/models

simulation:
  launch_config:
    device: cuda
    enable_cameras: true
    headless: false
    livestream: 0
    
scene:
  name: default_scene_name
  position: [0, 0, 0]
  rotation: [1, 0, 0, 0]
  base_config:
    name: default_base
    source: primitive
    stereotype: ground_plane
    ground_size: [100,100]

  object_cfg_dict:
    table:
      name: simple_table
      position: [0.5, 0, 0.25]
      source: primitive
      stereotype: rigid
      primitive_type: cuboid
      primitive_size: [0.5, 1, 0.5]
      mass: 1e4

    target:
      name: target
      position: [0.4, 0.0, 0.5]
      scale: [0.001, 0.001, 0.001]
      axis_y_up: true
      asset_path: asset://objects/omni6DPose/ball/omni6DPose_ball_020/Aligned.usd
      stereotype: rigid
      source: local


  robot_cfg_dict:
    robot:
      name: my_robot
      asset_path: asset://Franka/franka_robotiq_2f85_zedmini.usd
      position: [0, 0, 0]
      stereotype: single_gripper_arm_robot
      source: local
      init_joint_position:
        panda_joint2: -0.1633
        panda_joint4: -1.070
        panda_joint6: 0.8933
        panda_joint7: 0.785
      
      arm_actuator_name: franka_arm
      gripper_actuator_name: robotiq_2f_85

      use_planner: true
      planner_cfg:
        stereotype: curobo
        lazy_init: true
        robot_config_file: asset://curobo/franka_robotiq_2f85/franka_robotiq_2f85.yml
        world_config_source: stage
        world_stage_ignore_substrings: [my_robot]
        world_stage_only_paths: [/World]
        world_stage_reference_prim_path: /World/Robot/SingleGripperArmRobot/my_robot

  sensor_cfg_dict:
    front_camera:
      name: front_camera
      stereotype: camera
      position: [0.8, 0.0, 0.8]
      data_types: [rgb, depth, normals]
      width: 1280
      height: 720
      camera_model: pinhole
      fix_camera: true

    left_camera:
      name: left_camera
      stereotype: camera
      position: [0.6, 0.7, 0.8]
      data_types: [rgb, depth, normals]
      width: 1280
      height: 720
      camera_model: pinhole
      fix_camera: true

    right_camera:
      name: right_camera
      stereotype: camera
      position: [0.6, -0.7, 0.8]
      data_types: [rgb, depth, normals]
      width: 1280
      height: 720
      camera_model: pinhole
      fix_camera: true

extension:
  extension_cfg_dict:
    my_data_collect:
      enable: true
      stereotype: data_collect
      observer_cfgs:
        - stereotype: robot_observer
          name: my_robot
          observe_joint_positions: true
          observe_joint_velocities: true
          observe_joint_accelerations: true
          observe_joint_position_targets: true
          observe_joint_velocity_targets: true
          observe_position: true
          observe_rotation: true
          observe_ee_pose: true
          observe_gripper_state: true
          observe_gripper_drive_state: true
        - stereotype: sensor_observer
          name: front_camera
          observe_intrinsic_matrix: true
          observe_extrinsic_matrix: true
          observe_rgb: true
          observe_depth: true
          observe_normals: true
        - stereotype: sensor_observer
          name: left_camera
          observe_intrinsic_matrix: true
          observe_extrinsic_matrix: true
          observe_rgb: true
          observe_depth: true
          observe_normals: true
        - stereotype: sensor_observer
          name: right_camera
          observe_intrinsic_matrix: true
          observe_extrinsic_matrix: true
          observe_rgb: true
          observe_depth: true
          observe_normals: true

        - stereotype: task_observer
          name: task

        - stereotype: object_observer
          name: target
          observe_position: true
          observe_rotation: true
          observe_scale: true
          
    my_benchmark:
      enable: true
      stereotype: benchmark
      data_collector_name: my_data_collect
      goals:
        - name: reach_target
          description: Reach the target
          stereotype: pose
          pose_A_source: ee
          pose_A_params: 
            robot_name: my_robot
          pose_B_source: spawnable
          pose_B_params:
            spawnable_name: target
          position_tolerance: 0.005
      policy:
        stereotype: starvla
        robot_name: my_robot
        object_name: target
        prompt: pick the cola bottle and place it on the book

policy_server:
  ckpt_path: checkpoints://0309_qwenpi_droid_cola_post/final_model/pytorch_model.pt
  ckpt_source: local
  host: 0.0.0.0
  port: 5000
  use_bf16: true
  unnorm_key: oxe_bridge
  state_mode: ee_pose7