diff --git a/README.md b/README.md index 49303d5e098dbcc60b7fca7bfe252ce0d1f3962d..929a2bdb63c0c9288aee62ed0bd21f6938bb861b 100644 --- a/README.md +++ b/README.md @@ -12,6 +12,24 @@ Current selection: **35 trajectories = 20 Phone + 10 Marker + 5 scissors**. Phone data, checkpoints, BC artifacts and original references are preserved unchanged. Marker/scissors contain only the 15 user-selected Stage1 demonstrations listed below. + +## Selected WUJI2 FullDR checkpoints + +Four unchanged final checkpoints and their original configs/context/resume records are now archived. +**This is a checkpoint-only archive: exact training H5 inputs differ from the existing Stage2 +release, so evaluation dependencies remain incomplete. No evaluation was started.** +Reward >1 is a training-metric filter, not a policy-success claim. + +| Trajectory | FullDR run / checkpoint | Keypoint reward | Readiness | +|---|---|---:|---| +| marker_005 | [rawbvfp3](objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/manifest.json) / [model_9998.pt](objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/checkpoints/model_9998.pt) | 1.047750 | Missing matching training inputs | +| marker_009 | [jdfgpdaq](objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/manifest.json) / [model_9998.pt](objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/checkpoints/model_9998.pt) | 1.008895 | Missing matching training inputs | +| marker_011 | [i277x4dj](objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/manifest.json) / [model_9998.pt](objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/checkpoints/model_9998.pt) | 1.004174 | Missing matching training inputs | +| scissors_new_006 | [58i6zoqd](objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/manifest.json) / [model_9998.pt](objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/checkpoints/model_9998.pt) | 1.070471 | Missing matching training inputs | + +See [archive manifest](provenance/fulldr-reward-selected4-20261011-v1/release_manifest.json). Original Phone and Stage1/Stage2 files, +including their immutable manifests and download inventories, are unchanged. + ## Selected Marker and scissors - Marker: `marker_003` through `marker_012`. @@ -34,12 +52,12 @@ provenance/selected15-20261008-v1/ # selected manifest, portable assets/ ## Download only these 15 Stage1/Stage2 trajectories -Set `REV` to this dataset's full 40-character commit SHA from the Files and versions page. +For the frozen Stage1/Stage2 release below, set `REV=7e6bef8f22540f90732f8053ccf578a44b367725`. The script requires an immutable revision and verifies every downloaded SHA256. ```bash python -m pip install huggingface_hub -REV= +REV=7e6bef8f22540f90732f8053ccf578a44b367725 hf download FlappyHimself/reorientation-artifacts --repo-type dataset --revision "$REV" \ provenance/selected15-20261008-v1/download_selected15.py --local-dir selected15 python selected15/provenance/selected15-20261008-v1/download_selected15.py --revision "$REV" --output selected15 diff --git a/catalog.json b/catalog.json index 1cd7f2af759ada665898f83157471843a9721997..19f76246e872e8f87e9eb694229a1bd99573066f 100644 --- a/catalog.json +++ b/catalog.json @@ -1589,6 +1589,11 @@ "path": "objects/marker/trajectories/marker_005/wuji2/stage2/selected15-20261008-v1/handoff.json", "sha256": "2545f58d3921e9d507c8d273e9504d1b614770ce2737a8b3c7556eea6c6adb0e", "bytes": 1418 + }, + "stage3_archives": { + "path": "objects/marker/trajectories/marker_005/wuji2/stage3/index.json", + "sha256": "4b6a0dfb9763bd7576676038cd1e4b9ee15a45e307e918bc9b2750a8147f9baf", + "bytes": 591 } } }, @@ -1833,6 +1838,11 @@ "path": "objects/marker/trajectories/marker_009/wuji2/stage2/selected15-20261008-v1/handoff.json", "sha256": "1f3243b6db26ded3397d92b690457332b6ec9fe334178a9d2d36ba1fe0e5b699", "bytes": 1417 + }, + "stage3_archives": { + "path": "objects/marker/trajectories/marker_009/wuji2/stage3/index.json", + "sha256": "67c9d997c58a961c1086f85ca91762c18a54d2fc618017201b327269cd3c5def", + "bytes": 591 } } }, @@ -1958,6 +1968,11 @@ "path": "objects/marker/trajectories/marker_011/wuji2/stage2/selected15-20261008-v1/handoff.json", "sha256": "f47277ca9c926670fc9e6fe808bbe85e084bf0923390785ae24777980d8a9e40", "bytes": 1417 + }, + "stage3_archives": { + "path": "objects/marker/trajectories/marker_011/wuji2/stage3/index.json", + "sha256": "ef5bd337c50603337ee60dc9ab27b67c46569015d23d7274380b2d0de79cfb4c", + "bytes": 591 } } }, @@ -2150,6 +2165,11 @@ "path": "objects/scissors/trajectories/scissors_new_006/wuji2/stage2/selected15-20261008-v1/handoff.json", "sha256": "5845f9b8aa3c5289720a82e2a7ab902c70d3d0c5edd593dfdf22eabfbe63c18d", "bytes": 1437 + }, + "stage3_archives": { + "path": "objects/scissors/trajectories/scissors_new_006/wuji2/stage3/index.json", + "sha256": "c394e588adc7adec63dc82515e9d32ef818cb9293a61894feac952384180961a", + "bytes": 605 } } }, @@ -2371,7 +2391,8 @@ "selected_stage12_release": { "path": "provenance/selected15-20261008-v1/release_manifest.json", "sha256": "f43da0810dae25f6c02d2d713d40eb3c9fa48324c0ec8a3bd95b7acc3482013c", - "bytes": 40029 + "bytes": 40029, + "revision": "7e6bef8f22540f90732f8053ccf578a44b367725" }, "robot_availability": { "sharpa": "15_KINEMATIC_REFERENCES_QA_MIXED", @@ -2389,11 +2410,22 @@ "Stage2 QA manifests can reference original metadata hashes; those originals are preserved in legacy_metadata and old paths.", "Catalog trajectory_manifest E4 NOT_MATERIALIZED fields predate later evaluation directories; do not use stale status to suppress existing evidence.", "Original repository IDs in immutable cards/manifests remain provenance; canonical generated index must identify renamed repo." - ] + ], + "stage3_archive_release": { + "path": "provenance/fulldr-reward-selected4-20261011-v1/release_manifest.json", + "sha256": "31b38fc44907df964914b34ac110f47e42da22ca4852702386712f5efcac8f9a", + "bytes": 4186 + } }, "active_release": { "path": "provenance/selected15-20261008-v1/release_manifest.json", "sha256": "f43da0810dae25f6c02d2d713d40eb3c9fa48324c0ec8a3bd95b7acc3482013c", - "bytes": 40029 + "bytes": 40029, + "revision": "7e6bef8f22540f90732f8053ccf578a44b367725" + }, + "stage3_archive_release": { + "path": "provenance/fulldr-reward-selected4-20261011-v1/release_manifest.json", + "sha256": "31b38fc44907df964914b34ac110f47e42da22ca4852702386712f5efcac8f9a", + "bytes": 4186 } } diff --git a/objects/marker/trajectories/marker_005/wuji2/stage3/index.json b/objects/marker/trajectories/marker_005/wuji2/stage3/index.json new file mode 100644 index 0000000000000000000000000000000000000000..ccff83eaae478a48f60bbaf6cb81bf1d528dc881 --- /dev/null +++ b/objects/marker/trajectories/marker_005/wuji2/stage3/index.json @@ -0,0 +1,18 @@ +{ + "schema": "reorientation_stage3_archive_index_v1", + "take": "marker_005", + "embodiment": "wuji2", + "runs": [ + { + "run_id": "rawbvfp3", + "manifest": { + "path": "objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/manifest.json", + "sha256": "df177fbe57f126fd5e334c3731e6b76930d0c5984d36187d889d9db6625198a3", + "bytes": 5060 + }, + "status": "CHECKPOINT_ARCHIVED_DEPENDENCIES_INCOMPLETE", + "evaluation_ready": false + } + ], + "scope": "Additional Stage3 archives; original Stage1/Stage2 trajectory manifest remains unchanged" +} diff --git a/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/README.md b/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/README.md new file mode 100644 index 0000000000000000000000000000000000000000..9bad224161e45ac76213c094353b36d2759083d3 --- /dev/null +++ b/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/README.md @@ -0,0 +1,22 @@ +# marker_005 / WUJI2 FullDR / rawbvfp3 + +**CHECKPOINT_ARCHIVED — INCOMPLETE_FOR_EVALUATION** + +Final model: `checkpoints/model_9998.pt`. Source [W&B run](https://wandb.ai/dfnet/dex-retarget/runs/rawbvfp3). +Source FullDR stage:5000 additional PPO updates, resumed iteration4999, +final saved iteration9998. This is the final model, not a best-reward checkpoint. +Selection: `Episode_Reward/object_keypoints_pos_error_exp` at logged step9998 = **1.04775023 > 1**. +Reward selection is not an evaluation pass. + +Checkpoint SHA256: `ad67ad872d895d2feb61805c433cb6f97f12f44d58a3a451a6c5f9825d9c21b6`. +The uploaded file is unchanged and includes the original serialized policy state. +Exact source configurations, context, resume record and receipt accompany it. + +## Missing evaluation inputs + +The actual training retarget H5 has SHA256 `f25e1c5764fd4462f4428651e090d40ccc5a642c44ea6ffc7f8147720bef3239`. +The existing same-trajectory HF Stage2 H5 has SHA256 `f57e1bbe8259d38dba7a0a6b259008d329a0d1ebc65288e8b189da0ca53a4156`. +**They are different artifacts. Do not silently substitute the existing Stage2.** +See [dependencies](dependencies.json) for exact human/retarget H5, geometry, +source bundle and robot requirements. Historical paths are source provenance only. +This release does not include newly run evaluation,32-seed metrics or rollout videos. diff --git a/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/checkpoints/model_9998.pt b/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/checkpoints/model_9998.pt new file mode 100644 index 0000000000000000000000000000000000000000..05871a6853c2da7ce5bd6fcfd7b7f8a9e95d70fe --- /dev/null +++ b/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/checkpoints/model_9998.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad67ad872d895d2feb61805c433cb6f97f12f44d58a3a451a6c5f9825d9c21b6 +size 20801589 diff --git a/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/config/agent.yaml b/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/config/agent.yaml new file mode 100644 index 0000000000000000000000000000000000000000..33560ca84cdb80362c9c9d7fcd3505087b617561 --- /dev/null +++ b/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/config/agent.yaml @@ -0,0 +1,52 @@ +seed: 1 +device: cuda:0 +num_steps_per_env: 24 +max_iterations: 5000 +empirical_normalization: null +obs_groups: {} +clip_actions: null +save_interval: 500 +experiment_name: wuji2_phone_capture_v2 +run_name: fulldr +logger: wandb +neptune_project: dex-retarget +wandb_project: dex-retarget +resume: true +load_run: .* +load_checkpoint: model_.*.pt +class_name: OnPolicyRunner +policy: + class_name: CustomActorCritic + init_noise_std: 0.5 + noise_std_type: scalar + actor_obs_normalization: true + critic_obs_normalization: true + actor_hidden_dims: + - 1024 + - 512 + - 256 + - 128 + critic_hidden_dims: + - 1024 + - 512 + - 256 + - 128 + activation: elu + zero_init_actor_last_layer: true +algorithm: + class_name: PPO + num_learning_epochs: 5 + num_mini_batches: 4 + learning_rate: 0.001 + schedule: adaptive + gamma: 0.998 + lam: 0.95 + entropy_coef: 0.002 + desired_kl: 0.01 + max_grad_norm: 1.0 + value_loss_coef: 1.0 + use_clipped_value_loss: true + clip_param: 0.2 + normalize_advantage_per_mini_batch: false + rnd_cfg: null + symmetry_cfg: null diff --git a/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/config/config.json b/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/config/config.json new file mode 100644 index 0000000000000000000000000000000000000000..64d1c9d4241d72970a3ead5375b0c69bd86e4cf4 --- /dev/null +++ b/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/config/config.json @@ -0,0 +1,1934 @@ +{ + "alg_cfg": { + "lam": 0.95, + "gamma": 0.998, + "rnd_cfg": null, + "schedule": "adaptive", + "clip_param": 0.2, + "desired_kl": 0.01, + "entropy_coef": 0.002, + "symmetry_cfg": null, + "learning_rate": 0.001, + "max_grad_norm": 1, + "value_loss_coef": 1, + "num_mini_batches": 4, + "num_learning_epochs": 5, + "use_clipped_value_loss": true, + "normalize_advantage_per_mini_batch": false + }, + "env_cfg": { + "xr": null, + "sim": { + "dt": 0.008333333333333333, + "physx": { + "enable_ccd": false, + "solver_type": 1, + "gpu_heap_capacity": 67108864, + "enable_stabilization": false, + "gpu_max_num_partitions": 1, + "gpu_collision_stack_size": 268435456, + "gpu_temp_buffer_capacity": 16777216, + "bounce_threshold_velocity": 0.2, + "friction_offset_threshold": 0.01, + "gpu_max_particle_contacts": 1048576, + "gpu_max_rigid_patch_count": 8388608, + "gpu_max_soft_body_contacts": 1048576, + "enable_enhanced_determinism": false, + "gpu_max_rigid_contact_count": 8388608, + "max_position_iteration_count": 192, + "max_velocity_iteration_count": 1, + "min_position_iteration_count": 1, + "min_velocity_iteration_count": 0, + "friction_correlation_distance": 0.00625, + "gpu_found_lost_pairs_capacity": 2097152, + "solve_articulation_contact_last": false, + "gpu_total_aggregate_pairs_capacity": 2097152, + "gpu_found_lost_aggregate_pairs_capacity": 33554432 + }, + "device": "cuda:0", + "render": { + "dlss_mode": null, + "enable_dlssg": null, + "carb_settings": null, + "enable_shadows": null, + "rendering_mode": null, + "antialiasing_mode": null, + "samples_per_pixel": null, + "enable_dl_denoiser": null, + "enable_reflections": null, + "enable_translucency": null, + "enable_direct_lighting": null, + "enable_ambient_occlusion": null, + "enable_global_illumination": null, + "dome_light_upper_lower_strategy": null + }, + "gravity": [ + 0, + 0, + -9.81 + ], + "use_fabric": true, + "render_interval": 4, + "physics_material": { + "func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", + "restitution": 0, + "static_friction": 1, + "dynamic_friction": 1, + "friction_combine_mode": "average", + "restitution_combine_mode": "average", + "compliant_contact_damping": 0, + "compliant_contact_stiffness": 0 + }, + "physics_prim_path": "/physicsScene", + "create_stage_in_memory": false, + "enable_scene_query_support": false + }, + "seed": 1, + "scene": { + "light": { + "spawn": { + "func": "isaaclab.sim.spawners.lights.lights:spawn_light", + "color": [ + 0.75, + 0.75, + 0.75 + ], + "visible": true, + "exposure": 0, + "intensity": 2000, + "normalize": false, + "prim_type": "DomeLight", + "texture_file": null, + "semantic_tags": null, + "texture_format": "automatic", + "copy_from_source": true, + "color_temperature": 6500, + "visible_in_primary_ray": true, + "enable_color_temperature": false + }, + "debug_vis": false, + "prim_path": "/World/Light", + "class_type": null, + "init_state": { + "pos": [ + 0, + 0, + 0 + ], + "rot": [ + 1, + 0, + 0, + 0 + ] + }, + "collision_group": 0 + }, + "robot": { + "spawn": { + "func": "regrind.robots.free_wuji_hand2_routea_v1:spawn_wuji2_routea_floating", + "scale": null, + "visible": true, + "usd_path": "/data/dexr_b1/cur/third_party/wuji-description/hand2/hand2_beta1/body/usd/right/wujihand2.usd", + "variants": null, + "mass_props": null, + "rigid_props": { + "linear_damping": null, + "angular_damping": null, + "disable_gravity": true, + "sleep_threshold": null, + "kinematic_enabled": null, + "rigid_body_enabled": null, + "max_contact_impulse": null, + "max_linear_velocity": null, + "max_angular_velocity": null, + "retain_accelerations": null, + "stabilization_threshold": null, + "enable_gyroscopic_forces": null, + "max_depenetration_velocity": 5, + "solver_position_iteration_count": null, + "solver_velocity_iteration_count": null + }, + "semantic_tags": null, + "collision_props": { + "rest_offset": 0.0012, + "contact_offset": 0.0015, + "collision_enabled": null, + "torsional_patch_radius": null, + "min_torsional_patch_radius": null + }, + "visual_material": null, + "copy_from_source": true, + "deformable_props": null, + "joint_drive_props": null, + "articulation_props": { + "fix_root_link": false, + "sleep_threshold": 0.005, + "articulation_enabled": null, + "enabled_self_collisions": true, + "stabilization_threshold": 0.0005, + "solver_position_iteration_count": 32, + "solver_velocity_iteration_count": 1 + }, + "fixed_tendons_props": null, + "visual_material_path": "material", + "spatial_tendons_props": null, + "activate_contact_sensors": true + }, + "actuators": { + "fingers": { + "damping": null, + "armature": null, + "friction": null, + "stiffness": null, + "class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", + "effort_limit": null, + "velocity_limit": null, + "dynamic_friction": null, + "effort_limit_sim": null, + "joint_names_expr": [ + "r_thumb_cmc_flex", + "r_thumb_cmc_abd", + "r_thumb_mcp", + "r_thumb_ip", + "r_index_finger_mcp_flex", + "r_index_finger_mcp_abd", + "r_index_finger_pip", + "r_index_finger_dip", + "r_middle_finger_mcp_flex", + "r_middle_finger_mcp_abd", + "r_middle_finger_pip", + "r_middle_finger_dip", + "r_ring_finger_mcp_flex", + "r_ring_finger_mcp_abd", + "r_ring_finger_pip", + "r_ring_finger_dip", + "r_pinky_mcp_flex", + "r_pinky_mcp_abd", + "r_pinky_pip", + "r_pinky_dip" + ], + "viscous_friction": null, + "velocity_limit_sim": null + } + }, + "debug_vis": false, + "prim_path": "/World/envs/env_.*/Robot", + "class_type": "isaaclab.assets.articulation.articulation:Articulation", + "init_state": { + "pos": [ + 0, + 0, + 0 + ], + "rot": [ + 1, + 0, + 0, + 0 + ], + "ang_vel": [ + 0, + 0, + 0 + ], + "lin_vel": [ + 0, + 0, + 0 + ], + "joint_pos": { + "r_thumb_ip": 0, + "r_pinky_dip": 0, + "r_pinky_pip": 0, + "r_thumb_mcp": 0, + "r_pinky_mcp_abd": 0, + "r_thumb_cmc_abd": 0, + "r_pinky_mcp_flex": 0, + "r_thumb_cmc_flex": 0, + "r_ring_finger_dip": 0, + "r_ring_finger_pip": 0, + "r_index_finger_dip": 0, + "r_index_finger_pip": 0, + "r_middle_finger_dip": 0, + "r_middle_finger_pip": 0, + "r_ring_finger_mcp_abd": 0, + "r_index_finger_mcp_abd": 0, + "r_ring_finger_mcp_flex": 0, + "r_index_finger_mcp_flex": 0, + "r_middle_finger_mcp_abd": 0, + "r_middle_finger_mcp_flex": 0 + }, + "joint_vel": { + ".*": 0 + } + }, + "collision_group": 0, + "articulation_root_prim_path": "/r_wrist", + "soft_joint_pos_limit_factor": 1, + "actuator_value_resolution_debug_print": false + }, + "table": null, + "object": { + "spawn": { + "func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", + "scale": null, + "visible": true, + "usd_path": "/data/dexr_b1/cur/data/new_data_batch1/objects/marker/object.usda", + "variants": null, + "mass_props": null, + "rigid_props": { + "linear_damping": null, + "angular_damping": null, + "disable_gravity": false, + "sleep_threshold": 0.005, + "kinematic_enabled": false, + "rigid_body_enabled": null, + "max_contact_impulse": null, + "max_linear_velocity": null, + "max_angular_velocity": null, + "retain_accelerations": null, + "stabilization_threshold": 0.0025, + "enable_gyroscopic_forces": true, + "max_depenetration_velocity": 5, + "solver_position_iteration_count": 8, + "solver_velocity_iteration_count": 0 + }, + "semantic_tags": null, + "collision_props": null, + "visual_material": null, + "copy_from_source": true, + "deformable_props": null, + "joint_drive_props": null, + 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"free", + "shared_translation_range": [ + -0.03, + 0.03 + ], + "adaptive_sampling_enabled": false, + "contact_force_arrow_scale": 0.0005, + "enable_reset_perturbation": true, + "shared_rotation_range_rad": [ + -0.2617993877991494, + 0.2617993877991494 + ], + "fingertip_keypoint_indices": [ + 4, + 8, + 12, + 16, + 20 + ], + "rand_finger_joint_pos_range": [ + -0.05, + 0.05 + ], + "consumer_window_end_exclusive": null, + "contact_force_arrow_max_length": 0.12, + "contact_force_arrow_min_length": 0.008, + "debug_vis_contact_force_arrows": false, + "consumer_window_start_inclusive": null, + "required_frame_indexed_datasets": [], + "traj_aug_translation_lower_bound": [ + 0, + 0, + 0 + ], + "traj_aug_translation_upper_bound": [ + 0, + 0, + 0 + ], + "finger_joint_perturbation_range_rad": [ + -0.025, + 0.025 + ] + } + }, + "recorders": { + "dataset_filename": "dataset", + "dataset_export_mode": { + "_name_": "EXPORT_ALL", + "_value_": 1, + "_sort_order_": 1 + }, + "dataset_export_dir_path": "/tmp/isaaclab/logs", + "export_in_record_pre_reset": true, + "dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler" + }, + "decimation": 4, + "obs_max_lags": { + "object_pos": 2, + "object_quat": 2, + "object_joint": 2, + "hand_joint_pos": 2, + "hand_wrist_pos": 2, + "hand_wrist_quat": 2 + }, + "observations": { + "critic": { + "actions": { + "clip": null, + "func": "isaaclab.envs.mdp.observations:last_action", + "noise": null, + "scale": null, + "modifiers": null, + "history_length": 0, + "flatten_history_dim": true + }, + "command": { + "clip": null, + "func": "isaaclab.envs.mdp.observations:generated_commands", + "noise": null, + "scale": null, + "params": { + "command_name": "motion" + }, + "modifiers": null, + "history_length": 0, + "flatten_history_dim": true + }, + "object_ori": { + "clip": null, + "func": "regrind.tasks.manager_based.dexterous.mdp.observations:object_ori", + "noise": null, + "scale": null, + "params": { + "apply_noise": true, + "command_name": "motion" + }, + "modifiers": null, + "history_length": 0, + "flatten_history_dim": true + }, + "object_pos": { + "clip": null, + "func": "regrind.tasks.manager_based.dexterous.mdp.observations:object_pos", + "noise": null, + "scale": null, + "params": { + "apply_noise": true, + "command_name": "motion" + }, + "modifiers": null, + "history_length": 0, + "flatten_history_dim": true + }, + "object_joint": null, + "fingertips_pos": { + "clip": null, + "func": "regrind.tasks.manager_based.dexterous.mdp.observations:fingertips_pos", + "noise": null, + "scale": null, + "params": { + "command_name": "motion" + }, + "modifiers": null, + "history_length": 0, + "flatten_history_dim": true + }, + "hand_joint_pos": { + "clip": null, + "func": "regrind.tasks.manager_based.dexterous.mdp.observations:hand_joint_pos", + "noise": null, + "scale": null, + "params": { + "apply_noise": true, + "command_name": "motion" + }, + "modifiers": null, + "history_length": 3, + "flatten_history_dim": true + }, + "hand_joint_vel": { + "clip": null, + "func": "regrind.tasks.manager_based.dexterous.mdp.observations:hand_joint_vel", + "noise": null, + "scale": null, + "params": { + "command_name": "motion" + }, + "modifiers": null, + "history_length": 0, + "flatten_history_dim": true + }, + "hand_wrist_pos": { + "clip": null, + "func": "regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_pos", + "noise": null, + "scale": null, + "params": { + "apply_noise": true, + "command_name": "motion" + }, + "modifiers": null, + "history_length": 3, + "flatten_history_dim": true + }, + "history_length": null, + "concatenate_dim": -1, + "hand_wrist_rot6d": { + "clip": null, + "func": "regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_rot6d", + "noise": null, + "scale": null, + "params": { + "apply_noise": true, + "command_name": "motion" + }, + "modifiers": null, + "history_length": 3, + "flatten_history_dim": true + }, + "concatenate_terms": true, + "enable_corruption": false, + "flatten_history_dim": true, + "target_object_joint": null, + "action_base_hand_joint_pos": { + "clip": null, + "func": "regrind.tasks.manager_based.dexterous.mdp.observations:action_base_hand_joint_pos", + "noise": null, + "scale": null, + "params": { + "action_term_name": "joint_pos" + }, + "modifiers": null, + "history_length": 0, + "flatten_history_dim": true + }, + "action_base_wrist_pos_and_rot6d": { + "clip": null, + "func": "regrind.tasks.manager_based.dexterous.mdp.observations:action_base_wrist_pos_and_rot6d", + "noise": null, + "scale": null, + "params": { + "action_term_name": "root_pose" + }, + "modifiers": null, + "history_length": 0, + "flatten_history_dim": true + } + }, + "policy": { + "actions": { + "clip": null, + "func": "isaaclab.envs.mdp.observations:last_action", + "noise": null, + "scale": null, + "modifiers": null, + "history_length": 0, + "flatten_history_dim": true + }, + "command": { + "clip": null, + "func": "isaaclab.envs.mdp.observations:generated_commands", + "noise": null, + "scale": null, + "params": { + "command_name": "motion" + }, + "modifiers": null, + "history_length": 0, + "flatten_history_dim": true + }, + "object_ori": { + "clip": null, + "func": "regrind.tasks.manager_based.dexterous.mdp.observations:object_ori", + "noise": null, + "scale": null, + "params": { + "delay_key": "object_quat", + "apply_noise": true, + "command_name": "motion" + }, + "modifiers": null, + "history_length": 0, + "flatten_history_dim": true + }, + "object_pos": { + "clip": null, + "func": "regrind.tasks.manager_based.dexterous.mdp.observations:object_pos", + "noise": null, + "scale": null, + "params": { + "delay_key": "object_pos", + "apply_noise": true, + "command_name": "motion" + }, + "modifiers": null, + "history_length": 0, + "flatten_history_dim": true + }, + "object_joint": null, + "hand_joint_pos": { + "clip": null, + "func": "regrind.tasks.manager_based.dexterous.mdp.observations:hand_joint_pos", + "noise": null, + "scale": null, + "params": { + "delay_key": "hand_joint_pos", + "apply_noise": true, + "command_name": "motion", + "relative_to_default": true + }, + "modifiers": null, + "history_length": 3, + "flatten_history_dim": true + }, + "hand_wrist_pos": { + "clip": null, + "func": "regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_pos", + "noise": null, + "scale": null, + "params": { + "delay_key": "hand_wrist_pos", + "apply_noise": true, + "command_name": "motion", + "relative_to_default": false + }, + "modifiers": null, + "history_length": 3, + "flatten_history_dim": true + }, + "history_length": null, + "concatenate_dim": -1, + "hand_wrist_rot6d": { + "clip": null, + "func": "regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_rot6d", + "noise": null, + "scale": null, + "params": { + "delay_key": "hand_wrist_quat", + "apply_noise": true, + "command_name": "motion", + "relative_to_default": false + }, + "modifiers": null, + "history_length": 3, + "flatten_history_dim": true + }, + "concatenate_terms": true, + "enable_corruption": false, + "flatten_history_dim": true, + "action_base_hand_joint_pos": { + "clip": null, + "func": "regrind.tasks.manager_based.dexterous.mdp.observations:action_base_hand_joint_pos", + "noise": null, + "scale": null, + "params": { + "action_term_name": "joint_pos" + }, + "modifiers": null, + "history_length": 0, + "flatten_history_dim": true + }, + "action_base_wrist_pos_and_rot6d": { + "clip": null, + "func": "regrind.tasks.manager_based.dexterous.mdp.observations:action_base_wrist_pos_and_rot6d", + "noise": null, + "scale": null, + "params": { + "action_term_name": "root_pose" + }, + "modifiers": null, + "history_length": 0, + "flatten_history_dim": true + } + } + }, + "terminations": { + "time_out": { + "func": "isaaclab.envs.mdp.terminations:time_out", + "time_out": true + }, + "hit_table": null, + "demo_end_reached": { + "func": "regrind.tasks.manager_based.dexterous.mdp.terminations:demo_end_reached", + "params": { + "command_name": "motion" + }, + "time_out": false + }, + "object_deviation": { + "func": "regrind.tasks.manager_based.dexterous.mdp.terminations:object_deviation", + "params": { + "threshold": 0.15, + "command_name": "motion" + }, + "time_out": false + }, + "hand_far_from_object": { + "func": "regrind.tasks.manager_based.dexterous.mdp.terminations:hand_far_from_object", + "params": { + "threshold": 0.5, + "command_name": "motion" + }, + "time_out": false + }, + "object_out_of_bounds": { + "func": "regrind.tasks.manager_based.dexterous.mdp.terminations:object_out_of_bounds", + "params": { + "command_name": "motion" + }, + "time_out": false + } + }, + "episode_length_s": 12.2, + "tf_target_frames": { + "fingertips": [ + { + "name": null, + "offset": { + "pos": [ + 0, + 0, + 0 + ], + "rot": [ + 1, + 0, + 0, + 0 + ] + }, + "prim_path": "/World/envs/env_.*/Robot/r_thumb_tip" + }, + { + "name": null, + "offset": { + "pos": [ + 0, + 0, + 0 + ], + "rot": [ + 1, + 0, + 0, + 0 + ] + }, + "prim_path": "/World/envs/env_.*/Robot/r_index_finger_tip" + }, + { + "name": null, + "offset": { + "pos": [ + 0, + 0, + 0 + ], + "rot": [ + 1, + 0, + 0, + 0 + ] + }, + "prim_path": "/World/envs/env_.*/Robot/r_middle_finger_tip" + }, + { + "name": null, + "offset": { + "pos": [ + 0, + 0, + 0 + ], + "rot": [ + 1, + 0, + 0, + 0 + ] + }, + "prim_path": "/World/envs/env_.*/Robot/r_ring_finger_tip" + }, + { + "name": null, + "offset": { + "pos": [ + 0, + 0, + 0 + ], + "rot": [ + 1, + 0, + 0, + 0 + ] + }, + "prim_path": "/World/envs/env_.*/Robot/r_pinky_tip" + } + ] + }, + "is_finite_horizon": false, + "rerender_on_reset": false, + "wait_for_textures": true, + "tf_source_prim_path": "{ENV_REGEX_NS}/Robot/r_wrist", + "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", + "enable_contact_sensor": true, + "export_io_descriptors": false, + "io_descriptors_output_dir": null, + "include_contact_forces_in_critic_obs": false + }, + "log_dir": "/data/dexr_b1/cur/outputs/b1_grav_cur_b1c-2/marker_005/fulldr/training", + "policy_cfg": { + "activation": "elu", + "init_noise_std": 0.5, + "noise_std_type": "scalar", + "actor_hidden_dims": [ + 1024, + 512, + 256, + 128 + ], + "critic_hidden_dims": [ + 1024, + 512, + 256, + 128 + ], + "actor_obs_normalization": true, + "critic_obs_normalization": true, + "zero_init_actor_last_layer": true + }, + "runner_cfg": { + "seed": 1, + "device": "cuda:0", + "logger": "wandb", + "policy": { + "activation": "elu", + "init_noise_std": 0.5, + "noise_std_type": "scalar", + "actor_hidden_dims": [ + 1024, + 512, + 256, + 128 + ], + "critic_hidden_dims": [ + 1024, + 512, + 256, + 128 + ], + "actor_obs_normalization": true, + "critic_obs_normalization": true, + "zero_init_actor_last_layer": true + }, + "resume": true, + "load_run": ".*", + "run_name": "fulldr", + "algorithm": { + "lam": 0.95, + "gamma": 0.998, + "rnd_cfg": null, + "schedule": "adaptive", + "clip_param": 0.2, + "desired_kl": 0.01, + "entropy_coef": 0.002, + "symmetry_cfg": null, + "learning_rate": 0.001, + "max_grad_norm": 1, + "value_loss_coef": 1, + "num_mini_batches": 4, + "num_learning_epochs": 5, + "use_clipped_value_loss": true, + "normalize_advantage_per_mini_batch": false + }, + "class_name": "OnPolicyRunner", + "obs_groups": { + "critic": [ + "critic" + ], + "policy": [ + "policy" + ] + }, + "clip_actions": null, + "save_interval": 500, + "wandb_project": "dex-retarget", + "max_iterations": 5000, + "experiment_name": "wuji2_phone_capture_v2", + "load_checkpoint": "model_.*.pt", + "neptune_project": "dex-retarget", + "num_steps_per_env": 24, + "empirical_normalization": null + } +} diff --git a/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/config/context.json b/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/config/context.json new file mode 100644 index 0000000000000000000000000000000000000000..20badc8c0184d149b9242ab03208d97259137cb2 --- /dev/null +++ b/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/config/context.json @@ -0,0 +1,56 @@ +{ + "bundle": { + "path": "data/new_data_batch1/manifest.json", + "sha256": "8da5aa7baf9896af403997673f25ecb5539880eef4e4d23e63adb8beedc4a0bd" + }, + "capture_id": "marker_005", + "control_hz": 30.0, + "control_motion_steps": 366, + "geometry": { + "keypoints": { + "path": "data/new_data_batch1/objects/marker/keypoints.npy", + "sha256": "d275f0574698f9fecf86a420d2d6c49950bc5c750898dc103dde5f90c34ff86f" + }, + "properties": { + "path": "data/new_data_batch1/objects/marker/properties.json", + "sha256": "606f6e5d7efca3f4ef42f05a8173cb536ba389b3d473171388119e8c7793e2e5" + }, + "urdf": { + "path": "data/new_data_batch1/objects/marker/object.urdf", + "sha256": "779c966ec631d86688f17a205e2412a8ecf59202c7e96eaf8752a5a2f73d8fcf" + }, + "usd": { + "path": "data/new_data_batch1/objects/marker/object.usda", + "sha256": "23472b1831c9051fef037a4981c6108ef0ea626ef3c186889935486f19330dfb" + }, + "visual": { + "path": "data/new_data_batch1/objects/marker/visual.obj", + "sha256": "435a710afb84d4a3121f0389f60b1424fed93958cac07ce38d1e2e1317814203" + } + }, + "hold_steps": 15, + "human": { + "path": "data/new_data_batch1/cases/marker_005/human.h5", + "sha256": "e0ad5f15733d5dd691842fd99329ad3202d6e73a9b1b5bb3404da9c2a40aee16" + }, + "robot_usd": "third_party/wuji-description/hand2/hand2_beta1/body/usd/right/wujihand2.usd", + "schema": "dex_prepared_training_context_v1", + "source_frames": 732, + "source_hz": 60.0, + "terminal_bootstrap_protocol": "WUJI2-TerminalBootstrap-20261008-v1", + "training_only": true, + "trajectory": { + "path": "data/new_data_batch1/cases/marker_005/trajectory.h5", + "sha256": "f25e1c5764fd4462f4428651e090d40ccc5a642c44ea6ffc7f8147720bef3239" + }, + "workspace_lower_m": [ + 0.015044226410018798, + 0.23908823374498103, + 0.23790854592628805 + ], + "workspace_upper_m": [ + 0.11351838070887585, + 0.36307926050196027, + 0.3551272232626216 + ] +} diff --git a/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/config/env.yaml b/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/config/env.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4f96ff33a5013ca00b47b8311c9b5505f2e9654b --- /dev/null +++ b/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/config/env.yaml @@ -0,0 +1,1508 @@ +viewer: + eye: !!python/tuple + - 0.45 + - -0.45 + - 0.32 + lookat: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + cam_prim_path: /OmniverseKit_Persp + resolution: !!python/tuple + - 1280 + - 720 + origin_type: world + env_index: 0 + asset_name: null + body_name: null +sim: + physics_prim_path: /physicsScene + device: cuda:0 + dt: 0.008333333333333333 + render_interval: 4 + gravity: !!python/tuple + - 0.0 + - 0.0 + - -9.81 + enable_scene_query_support: false + use_fabric: true + physx: + solver_type: 1 + min_position_iteration_count: 1 + max_position_iteration_count: 192 + min_velocity_iteration_count: 0 + max_velocity_iteration_count: 1 + enable_ccd: false + enable_stabilization: false + enable_enhanced_determinism: false + bounce_threshold_velocity: 0.2 + friction_offset_threshold: 0.01 + friction_correlation_distance: 0.00625 + gpu_max_rigid_contact_count: 8388608 + gpu_max_rigid_patch_count: 8388608 + gpu_found_lost_pairs_capacity: 2097152 + gpu_found_lost_aggregate_pairs_capacity: 33554432 + gpu_total_aggregate_pairs_capacity: 2097152 + gpu_collision_stack_size: 268435456 + gpu_heap_capacity: 67108864 + gpu_temp_buffer_capacity: 16777216 + gpu_max_num_partitions: 1 + gpu_max_soft_body_contacts: 1048576 + gpu_max_particle_contacts: 1048576 + solve_articulation_contact_last: false + physics_material: + func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material + static_friction: 1.0 + dynamic_friction: 1.0 + restitution: 0.0 + friction_combine_mode: average + restitution_combine_mode: average + compliant_contact_stiffness: 0.0 + compliant_contact_damping: 0.0 + render: + enable_translucency: null + enable_reflections: null + enable_global_illumination: null + antialiasing_mode: null + enable_dlssg: null + enable_dl_denoiser: null + dlss_mode: null + enable_direct_lighting: null + samples_per_pixel: null + enable_shadows: null + enable_ambient_occlusion: null + dome_light_upper_lower_strategy: null + carb_settings: null + rendering_mode: null + create_stage_in_memory: false +ui_window_class_type: isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow +seed: 1 +decimation: 4 +scene: + num_envs: 1024 + env_spacing: 0.75 + lazy_sensor_update: true + replicate_physics: true + filter_collisions: true + clone_in_fabric: false + table: null + object: + class_type: isaaclab.assets.rigid_object.rigid_object:RigidObject + prim_path: /World/envs/env_.*/Object + spawn: + func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd + visible: true + semantic_tags: null + copy_from_source: true + mass_props: null + deformable_props: null + rigid_props: + rigid_body_enabled: null + kinematic_enabled: false + disable_gravity: false + linear_damping: null + angular_damping: null + max_linear_velocity: null + max_angular_velocity: null + max_depenetration_velocity: 5.0 + max_contact_impulse: null + enable_gyroscopic_forces: true + retain_accelerations: null + solver_position_iteration_count: 8 + solver_velocity_iteration_count: 0 + sleep_threshold: 0.005 + stabilization_threshold: 0.0025 + collision_props: null + activate_contact_sensors: true + scale: null + articulation_props: + articulation_enabled: false + enabled_self_collisions: null + solver_position_iteration_count: null + solver_velocity_iteration_count: null + sleep_threshold: null + stabilization_threshold: null + fix_root_link: null + fixed_tendons_props: null + spatial_tendons_props: null + joint_drive_props: null + visual_material_path: material + visual_material: null + usd_path: /data/dexr_b1/cur/data/new_data_batch1/objects/marker/object.usda + variants: null + init_state: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + lin_vel: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + ang_vel: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + collision_group: 0 + debug_vis: false + robot: + class_type: isaaclab.assets.articulation.articulation:Articulation + prim_path: /World/envs/env_.*/Robot + spawn: + func: regrind.robots.free_wuji_hand2_routea_v1:spawn_wuji2_routea_floating + visible: true + semantic_tags: null + copy_from_source: true + mass_props: null + deformable_props: null + rigid_props: + rigid_body_enabled: null + kinematic_enabled: null + disable_gravity: true + linear_damping: null + angular_damping: null + max_linear_velocity: null + max_angular_velocity: null + max_depenetration_velocity: 5.0 + max_contact_impulse: null + enable_gyroscopic_forces: null + retain_accelerations: null + solver_position_iteration_count: null + solver_velocity_iteration_count: null + sleep_threshold: null + stabilization_threshold: null + collision_props: + collision_enabled: null + contact_offset: 0.0015 + rest_offset: 0.0012 + torsional_patch_radius: null + min_torsional_patch_radius: null + activate_contact_sensors: true + scale: null + articulation_props: + articulation_enabled: null + enabled_self_collisions: true + solver_position_iteration_count: 32 + solver_velocity_iteration_count: 1 + sleep_threshold: 0.005 + stabilization_threshold: 0.0005 + fix_root_link: false + fixed_tendons_props: null + spatial_tendons_props: null + joint_drive_props: null + visual_material_path: material + visual_material: null + usd_path: /data/dexr_b1/cur/third_party/wuji-description/hand2/hand2_beta1/body/usd/right/wujihand2.usd + variants: null + init_state: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + lin_vel: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + ang_vel: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + joint_pos: + r_thumb_cmc_flex: 0.0 + r_thumb_cmc_abd: 0.0 + r_thumb_mcp: 0.0 + r_thumb_ip: 0.0 + r_index_finger_mcp_flex: 0.0 + r_index_finger_mcp_abd: 0.0 + r_index_finger_pip: 0.0 + r_index_finger_dip: 0.0 + r_middle_finger_mcp_flex: 0.0 + r_middle_finger_mcp_abd: 0.0 + r_middle_finger_pip: 0.0 + r_middle_finger_dip: 0.0 + r_ring_finger_mcp_flex: 0.0 + r_ring_finger_mcp_abd: 0.0 + r_ring_finger_pip: 0.0 + r_ring_finger_dip: 0.0 + r_pinky_mcp_flex: 0.0 + r_pinky_mcp_abd: 0.0 + r_pinky_pip: 0.0 + r_pinky_dip: 0.0 + joint_vel: + .*: 0.0 + collision_group: 0 + debug_vis: false + articulation_root_prim_path: /r_wrist + soft_joint_pos_limit_factor: 1.0 + actuators: + fingers: + class_type: isaaclab.actuators.actuator_pd:ImplicitActuator + joint_names_expr: + - r_thumb_cmc_flex + - r_thumb_cmc_abd + - r_thumb_mcp + - r_thumb_ip + - r_index_finger_mcp_flex + - r_index_finger_mcp_abd + - r_index_finger_pip + - r_index_finger_dip + - r_middle_finger_mcp_flex + - r_middle_finger_mcp_abd + - r_middle_finger_pip + - r_middle_finger_dip + - r_ring_finger_mcp_flex + - r_ring_finger_mcp_abd + - r_ring_finger_pip + - r_ring_finger_dip + - r_pinky_mcp_flex + - r_pinky_mcp_abd + - r_pinky_pip + - r_pinky_dip + effort_limit: null + velocity_limit: null + effort_limit_sim: null + velocity_limit_sim: null + stiffness: null + damping: null + armature: null + friction: null + dynamic_friction: null + viscous_friction: null + actuator_value_resolution_debug_print: false + light: + class_type: null + prim_path: /World/Light + spawn: + func: isaaclab.sim.spawners.lights.lights:spawn_light + visible: true + semantic_tags: null + copy_from_source: true + prim_type: DomeLight + color: !!python/tuple + - 0.75 + - 0.75 + - 0.75 + enable_color_temperature: false + color_temperature: 6500.0 + normalize: false + exposure: 0.0 + intensity: 2000.0 + texture_file: null + texture_format: automatic + visible_in_primary_ray: true + init_state: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + collision_group: 0 + debug_vis: false + contact_forces: + class_type: isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor + prim_path: /World/envs/env_.*/Robot/.* + update_period: 0.0 + history_length: 3 + debug_vis: true + track_pose: false + track_contact_points: false + max_contact_data_count_per_prim: 4 + track_air_time: true + force_threshold: 0.5 + filter_prim_paths_expr: [] + visualizer_cfg: + prim_path: /Visuals/ContactSensor + markers: + contact: + func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere + visible: true + semantic_tags: null + copy_from_source: true + mass_props: null + rigid_props: null + collision_props: null + activate_contact_sensors: false + visual_material_path: material + visual_material: + func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface + diffuse_color: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + emissive_color: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + roughness: 0.5 + metallic: 0.0 + opacity: 1.0 + physics_material_path: material + physics_material: null + radius: 0.02 + no_contact: + func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere + visible: false + semantic_tags: null + copy_from_source: true + mass_props: null + rigid_props: null + collision_props: null + activate_contact_sensors: false + visual_material_path: material + visual_material: + func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface + diffuse_color: !!python/tuple + - 0.0 + - 1.0 + - 0.0 + emissive_color: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + roughness: 0.5 + metallic: 0.0 + opacity: 1.0 + physics_material_path: material + physics_material: null + radius: 0.02 + tf_fingertips: + class_type: isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer + prim_path: /World/envs/env_.*/Robot/r_wrist + update_period: 0.0 + history_length: 0 + debug_vis: false + source_frame_offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + target_frames: + - prim_path: /World/envs/env_.*/Robot/r_thumb_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - prim_path: /World/envs/env_.*/Robot/r_index_finger_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - prim_path: /World/envs/env_.*/Robot/r_middle_finger_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - prim_path: /World/envs/env_.*/Robot/r_ring_finger_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - prim_path: /World/envs/env_.*/Robot/r_pinky_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + visualizer_cfg: + prim_path: /Visuals/SiteFrameTransformer_fingertips + markers: + frame: + func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd + visible: true + semantic_tags: null + copy_from_source: true + mass_props: null + deformable_props: null + rigid_props: null + collision_props: null + activate_contact_sensors: false + scale: !!python/tuple + - 0.05 + - 0.05 + - 0.05 + articulation_props: null + fixed_tendons_props: null + spatial_tendons_props: null + joint_drive_props: null + visual_material_path: material + visual_material: null + usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/UIElements/frame_prim.usd + variants: null + connecting_line: + func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder + visible: true + semantic_tags: null + copy_from_source: true + mass_props: null + rigid_props: null + collision_props: null + activate_contact_sensors: false + visual_material_path: material + visual_material: + func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface + diffuse_color: !!python/tuple + - 1.0 + - 1.0 + - 0.0 + emissive_color: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + roughness: 1.0 + metallic: 0.0 + opacity: 1.0 + physics_material_path: material + physics_material: null + radius: 0.002 + height: 1.0 + axis: Z +recorders: + dataset_file_handler_class_type: isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler + dataset_export_dir_path: /tmp/isaaclab/logs + dataset_filename: dataset + dataset_export_mode: + _value_: 1 + _name_: EXPORT_ALL + _sort_order_: 1 + export_in_record_pre_reset: true +observations: + policy: + concatenate_terms: true + concatenate_dim: -1 + enable_corruption: false + history_length: null + flatten_history_dim: true + object_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:object_pos + params: + command_name: motion + delay_key: object_pos + apply_noise: true + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + object_ori: + func: regrind.tasks.manager_based.dexterous.mdp.observations:object_ori + params: + command_name: motion + delay_key: object_quat + apply_noise: true + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + object_joint: null + hand_wrist_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_pos + params: + command_name: motion + delay_key: hand_wrist_pos + apply_noise: true + relative_to_default: false + modifiers: null + noise: null + clip: null + scale: null + history_length: 3 + flatten_history_dim: true + hand_wrist_rot6d: + func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_rot6d + params: + command_name: motion + delay_key: hand_wrist_quat + apply_noise: true + relative_to_default: false + modifiers: null + noise: null + clip: null + scale: null + history_length: 3 + flatten_history_dim: true + hand_joint_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_joint_pos + params: + command_name: motion + delay_key: hand_joint_pos + apply_noise: true + relative_to_default: true + modifiers: null + noise: null + clip: null + scale: null + history_length: 3 + flatten_history_dim: true + actions: + func: isaaclab.envs.mdp.observations:last_action + params: {} + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + command: + func: isaaclab.envs.mdp.observations:generated_commands + params: + command_name: motion + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + action_base_wrist_pos_and_rot6d: + func: regrind.tasks.manager_based.dexterous.mdp.observations:action_base_wrist_pos_and_rot6d + params: + action_term_name: root_pose + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + action_base_hand_joint_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:action_base_hand_joint_pos + params: + action_term_name: joint_pos + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + critic: + concatenate_terms: true + concatenate_dim: -1 + enable_corruption: false + history_length: null + flatten_history_dim: true + object_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:object_pos + params: + command_name: motion + apply_noise: true + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + object_ori: + func: regrind.tasks.manager_based.dexterous.mdp.observations:object_ori + params: + command_name: motion + apply_noise: true + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + object_joint: null + hand_wrist_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_pos + params: + command_name: motion + apply_noise: true + modifiers: null + noise: null + clip: null + scale: null + history_length: 3 + flatten_history_dim: true + hand_wrist_rot6d: + func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_rot6d + params: + command_name: motion + apply_noise: true + modifiers: null + noise: null + clip: null + scale: null + history_length: 3 + flatten_history_dim: true + hand_joint_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_joint_pos + params: + command_name: motion + apply_noise: true + modifiers: null + noise: null + clip: null + scale: null + history_length: 3 + flatten_history_dim: true + actions: + func: isaaclab.envs.mdp.observations:last_action + params: {} + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + command: + func: isaaclab.envs.mdp.observations:generated_commands + params: + command_name: motion + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + action_base_wrist_pos_and_rot6d: + func: regrind.tasks.manager_based.dexterous.mdp.observations:action_base_wrist_pos_and_rot6d + params: + action_term_name: root_pose + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + action_base_hand_joint_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:action_base_hand_joint_pos + params: + action_term_name: joint_pos + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + fingertips_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:fingertips_pos + params: + command_name: motion + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + hand_joint_vel: + func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_joint_vel + params: + command_name: motion + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + target_object_joint: null +actions: + root_pose: + class_type: regrind.tasks.manager_based.dexterous.mdp.actions:SE3ImpedanceActionTerm + asset_name: robot + debug_vis: false + clip: null + raw_clip: !!python/tuple + - -1.0 + - 1.0 + scale_pos: 0.03333333333333333 + scale_rot: 0.10666666666666667 + translation_delta_frame: world + rotation_delta_frame: world + max_target_pos_step: null + max_target_rot_step: null + kp_pos: 300.0 + kd_pos: 30.0 + kp_rot: 3.0 + kd_rot: 0.3 + base_action_source: motion_target + command_name: motion + body_name: r_wrist + joint_pos: + class_type: regrind.tasks.manager_based.dexterous.mdp.actions:ClippedRelativeJointPositionAction + asset_name: robot + debug_vis: false + clip: null + joint_names: + - r_thumb_cmc_flex + - r_thumb_cmc_abd + - r_thumb_mcp + - r_thumb_ip + - r_index_finger_mcp_flex + - r_index_finger_mcp_abd + - r_index_finger_pip + - r_index_finger_dip + - r_middle_finger_mcp_flex + - r_middle_finger_mcp_abd + - r_middle_finger_pip + - r_middle_finger_dip + - r_ring_finger_mcp_flex + - r_ring_finger_mcp_abd + - r_ring_finger_pip + - r_ring_finger_dip + - r_pinky_mcp_flex + - r_pinky_mcp_abd + - r_pinky_pip + - r_pinky_dip + scale: + .*: 0.10666666666666667 + offset: 0.0 + preserve_order: true + use_zero_offset: true + raw_clip: !!python/tuple + - -1.0 + - 1.0 + base_action_source: motion_target + command_name: motion + max_target_step: null +events: + object_com: null + object_scale: null + object_joint_friction: null + robot_physics_material: + func: isaaclab.envs.mdp.events:randomize_rigid_body_material + params: + asset_cfg: + name: robot + joint_names: null + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: .* + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + static_friction_range: !!python/tuple + - 0.7 + - 1.3 + dynamic_friction_range: !!python/tuple + - 0.7 + - 1.3 + restitution_range: !!python/tuple + - 0.0 + - 0.0 + num_buckets: 250 + make_consistent: true + mode: startup + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + robot_scale_mass: + func: isaaclab.envs.mdp.events:randomize_rigid_body_mass + params: + asset_cfg: + name: robot + joint_names: null + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: .* + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + mass_distribution_params: !!python/tuple + - 0.95 + - 1.05 + operation: scale + mode: startup + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + robot_joint_stiffness_and_damping: + func: isaaclab.envs.mdp.events:randomize_actuator_gains + params: + asset_cfg: + name: robot + joint_names: .* + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: null + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + stiffness_distribution_params: !!python/tuple + - 0.9 + - 1.1 + damping_distribution_params: !!python/tuple + - 0.9 + - 1.1 + operation: scale + distribution: log_uniform + mode: startup + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + init_zero_joint_default_pos: + func: regrind.envs.events:init_zero_joint_default_pos + params: + asset_cfg: + name: robot + joint_names: .* + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: null + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + mode: startup + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + robot_fingers_joint_pos_offset: + func: regrind.envs.events:randomize_joint_default_pos + params: + asset_cfg: + name: robot + joint_names: + - r_(thumb|index_finger|middle_finger|ring_finger)_.* + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: null + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + pos_distribution_params: !!python/tuple + - -0.025 + - 0.025 + operation: abs + action_term_name: joint_pos + mode: startup + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + robot_wrist_translation_joint_pos_offset: null + robot_wrist_rotation_joint_pos_offset: null + init_obs_delay_buffers: + func: regrind.envs.events:init_obs_delay_buffers + params: {} + mode: startup + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + table_physics_material: null + object_physics_material: + func: isaaclab.envs.mdp.events:randomize_rigid_body_material + params: + asset_cfg: + name: object + joint_names: null + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: .* + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + static_friction_range: !!python/tuple + - 0.5 + - 1.5 + dynamic_friction_range: !!python/tuple + - 0.5 + - 1.5 + restitution_range: !!python/tuple + - 0.0 + - 0.0 + num_buckets: 250 + make_consistent: true + mode: startup + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + object_scale_mass: + func: pipeline.isaac_task:bind_physics + params: + asset_cfg: + name: object + joint_names: null + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: null + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + randomize: true + mode: startup + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + observation_time_lag: + func: regrind.envs.events:randomize_observation_time_lag + params: + time_lag_ranges: + object_pos: !!python/tuple + - 0 + - 2 + object_quat: !!python/tuple + - 0 + - 2 + object_joint: !!python/tuple + - 0 + - 2 + hand_wrist_pos: !!python/tuple + - 0 + - 2 + hand_wrist_quat: !!python/tuple + - 0 + - 2 + hand_joint_pos: !!python/tuple + - 0 + - 2 + continuous_time_lag: true + mode: reset + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + curriculum_gravity: null + curriculum_random_push_robot: + func: regrind.envs.events:curriculum_random_push + params: + asset_cfg: + name: robot + joint_names: null + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: null + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + push_velocity_stages: + - - 0 + - x: + - -0.05 + - 0.05 + y: + - -0.05 + - 0.05 + z: + - -0.05 + - 0.05 + roll: + - -0.1 + - 0.1 + pitch: + - -0.1 + - 0.1 + yaw: + - -0.1 + - 0.1 + mode: interval + interval_range_s: !!python/tuple + - 1.0 + - 5.0 + is_global_time: false + min_step_count_between_reset: 0 + curriculum_random_push_object: + func: regrind.envs.events:curriculum_random_push + params: + asset_cfg: + name: object + joint_names: null + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: null + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + push_velocity_stages: + - - 0 + - x: + - -0.05 + - 0.05 + y: + - -0.05 + - 0.05 + z: + - -0.05 + - 0.05 + roll: + - -0.1 + - 0.1 + pitch: + - -0.1 + - 0.1 + yaw: + - -0.1 + - 0.1 + mode: interval + interval_range_s: !!python/tuple + - 1.0 + - 5.0 + is_global_time: false + min_step_count_between_reset: 0 +rerender_on_reset: false +wait_for_textures: true +xr: null +teleop_devices: + devices: {} +export_io_descriptors: false +io_descriptors_output_dir: null +log_dir: /data/dexr_b1/cur/outputs/b1_grav_cur_b1c-2/marker_005/fulldr/training +is_finite_horizon: false +episode_length_s: 12.2 +rewards: + object_keypoints_pos_error_exp: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:object_keypoints_pos_error_exp + params: + command_name: motion + std: 0.015 + shaping_func: exp + weight: 3.0 + object_lin_vel_error_exp: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:object_lin_vel_error_exp + params: + command_name: motion + std: 1.0 + shaping_func: exp + weight: 1.0 + object_ang_vel_error_exp: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:object_ang_vel_error_exp + params: + command_name: motion + std: 3.14 + shaping_func: exp + weight: 1.0 + hand_wrist_pos_error_exp: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:hand_wrist_pos_error_exp + params: + command_name: motion + std: 0.02 + shaping_func: exp + weight: 0.1 + hand_wrist_rot_error_exp: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:hand_wrist_rot_error_exp + params: + command_name: motion + std: 0.2 + shaping_func: exp + weight: 0.1 + action_l2_exp: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:action_l2_exp + params: + command_name: motion + std: 1.0 + weight: 0.5 + action_rate_l2_exp: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:action_rate_l2_exp + params: + command_name: motion + std: 0.5 + weight: 1.0 + action_out_of_bounds_exp: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:action_out_of_bounds_exp + params: + std: 1.0 + weight: 1.0 + early_terminated_penalty: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:is_early_terminated + params: {} + weight: -10.0 + fingertip_object_graph_error_exp: + func: regrind.tasks.manager_based.dexterous.mdp.episode1_rewards:fingertip_object_graph_error_exp + params: + command_name: motion + std: 0.03 + weight: 0.75 + functional_terminal_pose_exp: null + forbidden_root_phone_contact: null +terminations: + time_out: + func: isaaclab.envs.mdp.terminations:time_out + params: {} + time_out: true + demo_end_reached: + func: regrind.tasks.manager_based.dexterous.mdp.terminations:demo_end_reached + params: + command_name: motion + time_out: false + object_deviation: + func: regrind.tasks.manager_based.dexterous.mdp.terminations:object_deviation + params: + command_name: motion + threshold: 0.15 + time_out: false + object_out_of_bounds: + func: regrind.tasks.manager_based.dexterous.mdp.terminations:object_out_of_bounds + params: + command_name: motion + time_out: false + hand_far_from_object: + func: regrind.tasks.manager_based.dexterous.mdp.terminations:hand_far_from_object + params: + command_name: motion + threshold: 0.5 + time_out: false + hit_table: null +curriculum: {} +commands: + motion: + class_type: regrind.tasks.manager_based.dexterous.mdp.commands:MotionCommand + resampling_time_range: !!python/tuple + - 1000000000.0 + - 1000000000.0 + debug_vis: false + object_asset_name: object + robot_asset_name: robot + tf_asset_names: + - tf_fingertips + demo_path: /data/dexr_b1/cur/data/new_data_batch1/cases/marker_005/human.h5 + demo_dt: 0.016666666666666666 + retargeted_traj_path: /data/dexr_b1/cur/data/new_data_batch1/cases/marker_005/trajectory.h5 + required_robot_root_mode: free + source_frame_count: null + consumer_window_start_inclusive: null + consumer_window_end_exclusive: null + required_frame_indexed_datasets: !!python/tuple [] + terminal_hold_steps: 0 + reference_steps: 366 + augmentation_traj_dir: null + keypoint_paths: + bottom: /data/dexr_b1/cur/data/new_data_batch1/objects/marker/keypoints.npy + keypoint_body_prim_paths: + bottom: '{ENV_REGEX_NS}/Object/bottom' + keypoint_scale: 1.0 + object_joint_axis: null + actuated_joint_names: + - r_thumb_cmc_flex + - r_thumb_cmc_abd + - r_thumb_mcp + - r_thumb_ip + - r_index_finger_mcp_flex + - r_index_finger_mcp_abd + - r_index_finger_pip + - r_index_finger_dip + - r_middle_finger_mcp_flex + - r_middle_finger_mcp_abd + - r_middle_finger_pip + - r_middle_finger_dip + - r_ring_finger_mcp_flex + - r_ring_finger_mcp_abd + - r_ring_finger_pip + - r_ring_finger_dip + - r_pinky_mcp_flex + - r_pinky_mcp_abd + - r_pinky_pip + - r_pinky_dip + fingertip_keypoint_indices: !!python/tuple + - 4 + - 8 + - 12 + - 16 + - 20 + fingertip_frame_names: !!python/tuple + - r_thumb_tip + - r_index_finger_tip + - r_middle_finger_tip + - r_ring_finger_tip + - r_pinky_tip + enable_reset_perturbation: true + traj_aug_enabled: false + traj_aug_translation_lower_bound: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + traj_aug_translation_upper_bound: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + traj_aug_yaw_range: !!python/tuple + - 0.0 + - 0.0 + traj_aug_start: 0.0 + traj_aug_use: 1.0 + traj_aug_apply_to_hand: true + rand_wrist_pos_range: !!python/tuple + - -0.005 + - 0.005 + rand_wrist_rot_range: !!python/tuple + - -0.05 + - 0.05 + rand_finger_joint_pos_range: !!python/tuple + - -0.05 + - 0.05 + rand_object_pos_range: !!python/tuple + - -0.005 + - 0.005 + rand_object_rot_range: !!python/tuple + - -0.05 + - 0.05 + rand_object_joint_range: !!python/tuple + - -0.05 + - 0.05 + adaptive_kernel_size: 1 + adaptive_lambda: 0.8 + adaptive_uniform_ratio: 0.1 + adaptive_alpha: 0.001 + adaptive_sampling_enabled: false + rsi_enabled: true + debug_vis_marker_scale: 0.5 + debug_vis_keypoints: false + debug_vis_contact_force_arrows: false + contact_force_arrow_scale: 0.0005 + contact_force_arrow_min_length: 0.008 + contact_force_arrow_max_length: 0.12 + object_pos_lower_bound: !!python/tuple + - 0.015044226410018798 + - 0.23908823374498103 + - 0.23790854592628805 + object_pos_upper_bound: !!python/tuple + - 0.11351838070887585 + - 0.36307926050196027 + - 0.3551272232626216 + shared_translation_range: !!python/tuple + - -0.03 + - 0.03 + shared_rotation_range_rad: !!python/tuple + - -0.2617993877991494 + - 0.2617993877991494 + finger_joint_perturbation_range_rad: !!python/tuple + - -0.025 + - 0.025 +obs_max_lags: + object_pos: 2 + object_quat: 2 + object_joint: 2 + hand_wrist_pos: 2 + hand_wrist_quat: 2 + hand_joint_pos: 2 +tf_source_prim_path: '{ENV_REGEX_NS}/Robot/r_wrist' +tf_target_frames: + fingertips: + - prim_path: /World/envs/env_.*/Robot/r_thumb_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - prim_path: /World/envs/env_.*/Robot/r_index_finger_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - prim_path: /World/envs/env_.*/Robot/r_middle_finger_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - prim_path: /World/envs/env_.*/Robot/r_ring_finger_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - prim_path: /World/envs/env_.*/Robot/r_pinky_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 +enable_contact_sensor: true +include_contact_forces_in_critic_obs: false diff --git a/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/config/requirements.txt b/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/config/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..820c582855e6de22f5b1a4fc482340de6d48e430 --- /dev/null +++ b/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/config/requirements.txt @@ -0,0 +1,230 @@ +isaaclab==0.47.2 +isaaclab_assets==0.2.3 +isaaclab_tasks==0.11.6 +isaaclab_rl==0.4.4 +isaacsim-benchmark==5.1.0.0 +isaacsim-example==5.1.0.0 +torchvision==0.22.0 +onnx-ir==1.0.0 +pytransform3d==3.17.0 +tensordict==0.13.0 +portalocker==2.7.0 +Rtree==1.3.0 +nvidia-cusparselt-cu12==0.6.3 +isaacsim-storage==5.1.0.0 +nvidia-cuda-nvrtc-cu12==12.6.77 +wrapt==1.16.0 +osqp==0.6.7.post3 +proglog==0.1.12 +awscrt==0.23.8 +isaacsim-template==5.1.0.0 +isaacsim-extscache-kit-sdk==5.1.0.0 +tqdm==4.70.1 +packaging==23.0 +typing_extensions==4.12.2 +toml==0.10.2 +PyJWT==2.15.1 +psutil==5.9.8 +pluggy==1.6.0 +s3transfer==0.13.1 +gitdb==4.0.12 +charset-normalizer==3.3.2 +isaacsim-test==5.1.0.0 +omegaconf==2.3.1 +aiofiles==23.2.1 +uvicorn==0.29.0 +antlr4-python3-runtime==4.9.3 +gymnasium==1.2.0 +Markdown==3.11 +h5py==3.16.0 +aiohttp==3.11.11 +torchaudio==2.7.0 +certifi==2026.7.22 +filelock==3.13.1 +azure-storage-blob==12.17.0 +isaaclab_tasks==0.11.6 +httptools==0.6.1 +imageio-ffmpeg==0.6.0 +propcache==0.2.1 +yarl==1.18.3 +asteval==1.0.6 +azure-core==1.28.0 +azure-identity==1.13.0 +sympy==1.13.3 +rsl-rl-lib==3.0.1 +qpsolvers==4.13.0 +huggingface_hub==0.36.2 +GitPython==3.2.0 +Pygments==2.21.0 +protobuf==7.36.2 +nvidia-cudnn-cu12==9.5.1.17 +iniconfig==2.3.1 +isaaclab_assets==0.2.3 +loop-rate-limiters==1.2.0 +pin==2.7.0 +hydra-core==1.3.4 +nest-asyncio==1.5.6 +hpp-fcl==2.4.4 +starlette==0.45.3 +einops==0.8.2 +watchdog==4.0.0 +llvmlite==0.42.0 +nvidia-cusolver-cu12==11.7.1.2 +nvidia-nvtx-cu12==12.6.77 +nvidia-cuda-cupti-cu12==12.6.80 +fastapi==0.115.7 +eigenpy==3.5.1 +matplotlib==3.10.3 +idna-ssl==1.1.0 +sentry-sdk==2.29.1 +annotated-types==0.8.0 +isaacsim-robot-setup==5.1.0.0 +oauthlib==3.2.2 +safetensors==0.8.0 +jmespath==1.0.1 +pip==25.3 +isaacsim==5.1.0.0 +kiwisolver==1.4.4 +isaacsim-extscache-kit==5.1.0.0 +requests-oauthlib==1.3.1 +aiobotocore==2.24.0 +lxml==6.1.3 +aioitertools==0.11.0 +urllib3==2.8.0 +pycares==4.8.0 +pytest-mock==3.16.0 +torch==2.7.0 +isaacsim-cortex==5.1.0.0 +importlib_metadata==9.0.1 +tensorboard-data-server==0.7.2 +isaacsim-robot-motion==5.1.0.0 +click==8.5.0 +dex_retargeting==0.4.6 +isaacsim-core==5.1.0.0 +anytree==2.13.0 +Farama-Notifications==0.0.6 +transformers==4.56.2 +isaacsim-robot==5.1.0.0 +isaacsim-rl==5.1.0.0 +fsspec==2024.6.1 +cmeel-qhull==8.0.2.1 +cmeel-console-bridge==1.0.2.3 +hf-xet==1.7.0 +prettytable==3.3.0 +coverage==7.4.4 +multidict==6.1.0 +gunicorn==23.0.0 +Werkzeug==3.1.9 +onnx==1.18.0 +cmeel-octomap==1.10.0 +tensorboard==2.21.0 +Mosek==11.1.2 +typing-inspection==0.4.2 +isaacsim-code-editor==5.1.0.0 +nvidia-cufft-cu12==11.3.0.4 +wcwidth==0.9.2 +cycler==0.11.0 +contourpy==1.3.1 +aiohappyeyeballs==2.4.4 +numpy==1.26.0 +regex==2026.9.29 +idna==3.10 +nvidia-cufile-cu12==1.11.1.6 +PyYAML==6.0.2 +decorator==5.3.1 +cmeel-assimp==5.4.3.1 +drake==1.51.1 +aioboto3==15.1.0 +cloudpickle==3.1.2 +isaacsim-kernel==5.1.0.0 +mpmath==1.3.0 +aiosignal==1.3.2 +pin-pink==3.1.0 +smmap==5.0.3 +fonttools==4.55.3 +isaaclab==0.47.2 +numba==0.59.1 +wandb==0.28.1 +pycparser==3.11 +isaacsim-sensor==5.1.0.0 +pyperclip==1.8.0 +anyio==4.14.2 +Jinja2==3.1.6 +isaaclab_rl==0.4.4 +nvidia-nvjitlink-cu12==12.6.85 +ml_dtypes==0.5.4 +opencv-python-headless==4.11.0.86 +tokenizers==0.22.2 +pypng==0.20220715.0 +flaky==3.8.1 +cmeel-urdfdom==3.1.1.1 +imageio==2.37.0 +python-multipart==0.0.20 +pyglet==1.5.31 +cmeel-tinyxml==2.6.2.3 +websockets==12.0 +botocore==1.39.11 +cmeel==0.61.0 +setuptools==80.9.0 +triton==3.3.0 +h11==0.16.0 +orjson==3.13.0 +msal-extensions==1.0.0 +platformdirs==4.12.4 +cffi==2.1.1 +quadprog==0.1.13 +requests==2.32.3 +networkx==3.3 +isaacsim-app==5.1.0.0 +python-dotenv==1.2.4 +zipp==4.1.1 +qrcode==7.4.2 +nvidia-nccl-cu12==2.26.2 +wheel==0.45.1 +isaacsim-replicator==5.1.0.0 +pyparsing==3.0.9 +isaacsim-ros1==5.1.0.0 +hidapi==0.14.0.post2 +trimesh==4.5.1 +isaacsim-ros2==5.1.0.0 +flatdict==4.0.1 +pydantic==2.11.10 +six==1.17.0 +pydot==3.0.4 +pillow==11.3.0 +isaacsim-extscache-physics==5.1.0.0 +isaacsim-utils==5.1.0.0 +msal==1.27.0 +qdldl==0.1.7.post5 +onnxscript==0.7.1 +python-dateutil==2.9.0.post0 +nvidia-cusparse-cu12==12.5.4.2 +Pint==0.20.1 +pydantic_core==2.33.2 +cmeel-zlib==1.3.2 +cmeel-boost==1.83.0 +grpcio==1.84.0 +attrs==25.1.0 +moviepy==2.2.1 +warp-lang==1.15.0 +nlopt==2.7.1 +nvidia-cublas-cu12==12.6.4.1 +absl-py==2.5.1 +isaacsim-asset==5.1.0.0 +cryptography==44.0.0 +scipy==1.15.3 +isaacsim-gui==5.1.0.0 +nvidia-curand-cu12==10.3.7.77 +pytz==2024.1 +frozenlist==1.5.0 +opencv-python==4.11.0.86 +tornado==6.5.1 +junitparser==5.0.3 +pyvers==0.2.3 +async-timeout==5.0.1 +isodate==0.6.1 +boto3==1.39.11 +aiodns==3.1.1 +pytest==9.1.1 +MarkupSafe==2.1.3 +nvidia-cuda-runtime-cu12==12.6.77 diff --git a/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/config/resume_metadata.json b/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/config/resume_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..1d6facc0822752261e19d7d616bd64d2f23aae7f --- /dev/null +++ b/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/config/resume_metadata.json @@ -0,0 +1,11 @@ +{ + "model_state_loaded": true, + "optimizer_learning_rates_after_load": [ + 1.5000000000000004e-05 + ], + "optimizer_state_entry_count_after_load": 21, + "optimizer_state_loaded": true, + "resume_checkpoint_sha256": "0c444093dd629ab71a7f814872ef536bb6089cfa376a7afdf71fcb29f478462e", + "resume_path": "/data/dexr_b1/cur/outputs/b1_grav_cur_b1c-2/marker_005/teacher/training/model_4999.pt", + "source_learning_iteration": 4999 +} diff --git a/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/dependencies.json b/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/dependencies.json new file mode 100644 index 0000000000000000000000000000000000000000..4c5692cdcf419299b841a9c1b63acffb792e8128 --- /dev/null +++ b/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/dependencies.json @@ -0,0 +1,99 @@ +{ + "status": "INCOMPLETE_FOR_EVALUATION", + "evaluation_ready": false, + "scope": "Checkpoint and configurations only; matching training inputs are not bundled", + "dependencies": [ + { + "role": "human_h5", + "training_source_path": "data/new_data_batch1/cases/marker_005/human.h5", + "expected_sha256": "e0ad5f15733d5dd691842fd99329ad3202d6e73a9b1b5bb3404da9c2a40aee16", + "availability": "UNRESOLVED_NOT_BUNDLED", + "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence", + "hf_matches": [] + }, + { + "role": "retarget_h5", + "training_source_path": "data/new_data_batch1/cases/marker_005/trajectory.h5", + "expected_sha256": "f25e1c5764fd4462f4428651e090d40ccc5a642c44ea6ffc7f8147720bef3239", + "availability": "UNRESOLVED_NOT_BUNDLED", + "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence", + "hf_matches": [] + }, + { + "role": "source_bundle_manifest", + "training_source_path": "data/new_data_batch1/manifest.json", + "expected_sha256": "8da5aa7baf9896af403997673f25ecb5539880eef4e4d23e63adb8beedc4a0bd", + "availability": "UNRESOLVED_NOT_BUNDLED", + "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence", + "hf_matches": [] + }, + { + "role": "keypoints", + "training_source_path": "data/new_data_batch1/objects/marker/keypoints.npy", + "expected_sha256": "d275f0574698f9fecf86a420d2d6c49950bc5c750898dc103dde5f90c34ff86f", + "availability": "EXACT_HASH_EXISTS_IN_PREVIOUS_HF_REVISION", + "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence", + "hf_matches": [ + { + "repo_id": "FlappyHimself/reorientation-artifacts", + "revision": "7e6bef8f22540f90732f8053ccf578a44b367725", + "path": "provenance/selected15-20261008-v1/assets/profiles/marker/sharpa_profile/assets/surface_surface_keypoints.npy" + }, + { + "repo_id": "FlappyHimself/reorientation-artifacts", + "revision": "7e6bef8f22540f90732f8053ccf578a44b367725", + "path": "provenance/selected15-20261008-v1/assets/profiles/marker/surface_keypoints.npy" + } + ] + }, + { + "role": "properties", + "training_source_path": "data/new_data_batch1/objects/marker/properties.json", + "expected_sha256": "606f6e5d7efca3f4ef42f05a8173cb536ba389b3d473171388119e8c7793e2e5", + "availability": "UNRESOLVED_NOT_BUNDLED", + "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence", + "hf_matches": [] + }, + { + "role": "urdf", + "training_source_path": "data/new_data_batch1/objects/marker/object.urdf", + "expected_sha256": "779c966ec631d86688f17a205e2412a8ecf59202c7e96eaf8752a5a2f73d8fcf", + "availability": "UNRESOLVED_NOT_BUNDLED", + "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence", + "hf_matches": [] + }, + { + "role": "usd", + "training_source_path": 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"hf_matches": [] + } + ], + "existing_stage2_comparison": { + "revision": "7e6bef8f22540f90732f8053ccf578a44b367725", + "path": "objects/marker/trajectories/marker_005/wuji2/stage2/selected15-20261008-v1/trajectory.h5", + "sha256": "f57e1bbe8259d38dba7a0a6b259008d329a0d1ebc65288e8b189da0ca53a4156", + "training_retarg_h5_sha256": "f25e1c5764fd4462f4428651e090d40ccc5a642c44ea6ffc7f8147720bef3239", + "same_bytes": false, + "may_use_as_parent_input": false + }, + "robot_usd_source": "third_party/wuji-description/hand2/hand2_beta1/body/usd/right/wujihand2.usd", + "note": "Historical absolute/source-relative paths in config are provenance, not portable local inputs. Resolve and hash-check every exact dependency before evaluation; do not substitute the existing same-ID Stage2 release." +} diff --git a/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/manifest.json b/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..c538f2075f5c2b5d7102309e78a0bf1cfd354592 --- /dev/null +++ b/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/manifest.json @@ -0,0 +1,121 @@ +{ + "schema": "reorientation_wuji2_stage3_checkpoint_archive_v1", + "archive_release": "fulldr-reward-selected4-20261011-v1", + "take": "marker_005", + "object": "marker", + "embodiment": "wuji2", + "phase": "fulldr", + "run_id": "rawbvfp3", + "status": "CHECKPOINT_ARCHIVED_DEPENDENCIES_INCOMPLETE", + "evaluation_ready": false, + "checkpoint": { + "path": "objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/checkpoints/model_9998.pt", + "sha256": "ad67ad872d895d2feb61805c433cb6f97f12f44d58a3a451a6c5f9825d9c21b6", + "bytes": 20801589 + }, + "reward_selection": { + "path": "objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/source/reward_selection.json", + "sha256": "4f238e154d42f79031c4c48034f526edf017ab266a7895b8b683e5ebd56cfdea", + "bytes": 431 + }, + "dependency_report": { + "path": "objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/dependencies.json", + "sha256": "f368ca7fcb1d4f657309f57a659c463efd7902b9575a2e9d9cbbea16ae24f983", + "bytes": 5299 + }, + "provenance": { + "source": { + "entity": "dfnet", + "project": "dex-retarget", + "run_id": "rawbvfp3", + "run_name": "marker_005/fulldr/outputs/b1_grav_cur_b1c-2/marker_005/fulldr", + "url": "https://wandb.ai/dfnet/dex-retarget/runs/rawbvfp3", + "state": "finished" + }, + "code_commit": "d4d481eddf00872b287e3cff4334fcd12869e71d", + "phase": "FullDR", + "completed_stage_budget_from_source": { + "configured_additional_updates": 5000, + "resumed_learning_iteration": 4999, + "final_checkpoint_iteration": 9998, + "selection": "final optimizer update; not evaluation-selected" + }, + "parent_nominal_checkpoint": { + "source_path": "/data/dexr_b1/cur/outputs/b1_grav_cur_b1c-2/marker_005/teacher/training/model_4999.pt", + "sha256": "0c444093dd629ab71a7f814872ef536bb6089cfa376a7afdf71fcb29f478462e", + "model_state_loaded": true, + "optimizer_state_loaded": true + }, + "normalization": "Observation normalizer state is carried in the source checkpoint; checkpoint bytes preserved. 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No deserialization or simulation performed in this archive.", + "claims": { + "reward_selected": true, + "independent_evaluation": "NOT_PROVIDED", + "rollout_videos": "NOT_PROVIDED", + "new_evaluation_run": false, + "training_input_equivalence_to_existing_hf_stage2": false + } +} diff --git a/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/source/reward_selection.json b/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/source/reward_selection.json new file mode 100644 index 0000000000000000000000000000000000000000..b6fd96edcf7bab4277e41b33bf98ca3df51fefd6 --- /dev/null +++ b/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/source/reward_selection.json @@ -0,0 +1,12 @@ +{ + "metric": "Episode_Reward/object_keypoints_pos_error_exp", + "operator": ">", + "threshold": 1.0, + "observed_step": 9998, + "observed_value": 1.0477502346038818, + "rule": "Final checkpoint at the exact logged step, not historical maximum or smoothed reward", + "run_id": "rawbvfp3", + "wandb_url": "https://wandb.ai/dfnet/dex-retarget/runs/rawbvfp3", + "read_at": 1791753857.2084894, + "evaluation_success_inferred": false +} diff --git a/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/source/wandb_receipt.json b/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/source/wandb_receipt.json new file mode 100644 index 0000000000000000000000000000000000000000..a22fab879ce0c73bb64f3094435fee4a61315cc3 --- /dev/null +++ b/objects/marker/trajectories/marker_005/wuji2/stage3/rawbvfp3/source/wandb_receipt.json @@ -0,0 +1,13 @@ +{ + "checkpoint": { + "path": "outputs/b1_grav_cur_b1c-2/marker_005/fulldr/training/model_9998.pt", + "sha256": "ad67ad872d895d2feb61805c433cb6f97f12f44d58a3a451a6c5f9825d9c21b6" + }, + "contents": "model (including observation normalizers), optimizer, iteration and audited stage progress", + "mode": "online", + "run_id": "rawbvfp3", + "run_url": "https://wandb.ai/dfnet/dex-retarget/runs/rawbvfp3", + "schema": "dex_wandb_checkpoint_v1", + "selection": "final optimizer update; not evaluation-selected", + "wandb_file": "model_9998.pt" +} diff --git a/objects/marker/trajectories/marker_009/wuji2/stage3/index.json b/objects/marker/trajectories/marker_009/wuji2/stage3/index.json new file mode 100644 index 0000000000000000000000000000000000000000..134430369de74b8cb353b65b94f40aa051ae15ab --- /dev/null +++ b/objects/marker/trajectories/marker_009/wuji2/stage3/index.json @@ -0,0 +1,18 @@ +{ + "schema": "reorientation_stage3_archive_index_v1", + "take": "marker_009", + "embodiment": "wuji2", + "runs": [ + { + "run_id": "jdfgpdaq", + "manifest": { + "path": "objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/manifest.json", + "sha256": "21138e35408bfd36ed7bb5f7f73e226a1eb6a56f1c7cca5fd15c2c2ff86594b7", + "bytes": 5056 + }, + "status": "CHECKPOINT_ARCHIVED_DEPENDENCIES_INCOMPLETE", + "evaluation_ready": false + } + ], + "scope": "Additional Stage3 archives; original Stage1/Stage2 trajectory manifest remains unchanged" +} diff --git a/objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/README.md b/objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/README.md new file mode 100644 index 0000000000000000000000000000000000000000..88b0a8a8cae09ac2bb4332083e24b2f2ab2eca1a --- /dev/null +++ b/objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/README.md @@ -0,0 +1,22 @@ +# marker_009 / WUJI2 FullDR / jdfgpdaq + +**CHECKPOINT_ARCHIVED — INCOMPLETE_FOR_EVALUATION** + +Final model: `checkpoints/model_9998.pt`. Source [W&B run](https://wandb.ai/dfnet/dex-retarget/runs/jdfgpdaq). +Source FullDR stage:5000 additional PPO updates, resumed iteration4999, +final saved iteration9998. This is the final model, not a best-reward checkpoint. +Selection: `Episode_Reward/object_keypoints_pos_error_exp` at logged step9998 = **1.00889492 > 1**. +Reward selection is not an evaluation pass. + +Checkpoint SHA256: `a39670fdd5ca77e452e1fd1bf938aef2ec5d92866a7c276a5e96c74939d4bb8e`. +The uploaded file is unchanged and includes the original serialized policy state. +Exact source configurations, context, resume record and receipt accompany it. + +## Missing evaluation inputs + +The actual training retarget H5 has SHA256 `e800d13684d86fc812a8036e1e786fe5f143d0a2b326d12bb96dcfc7ae796593`. +The existing same-trajectory HF Stage2 H5 has SHA256 `d7d154334a6cc715f354b7558a7d165d6f4dfb473c152e3e70a5a214b475414f`. +**They are different artifacts. Do not silently substitute the existing Stage2.** +See [dependencies](dependencies.json) for exact human/retarget H5, geometry, +source bundle and robot requirements. Historical paths are source provenance only. +This release does not include newly run evaluation,32-seed metrics or rollout videos. diff --git a/objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/checkpoints/model_9998.pt b/objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/checkpoints/model_9998.pt new file mode 100644 index 0000000000000000000000000000000000000000..538361014dfbc4e4f94e3237953661a9b854eeb4 --- /dev/null +++ b/objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/checkpoints/model_9998.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a39670fdd5ca77e452e1fd1bf938aef2ec5d92866a7c276a5e96c74939d4bb8e +size 20801589 diff --git a/objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/config/agent.yaml b/objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/config/agent.yaml new file mode 100644 index 0000000000000000000000000000000000000000..33560ca84cdb80362c9c9d7fcd3505087b617561 --- /dev/null +++ b/objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/config/agent.yaml @@ -0,0 +1,52 @@ +seed: 1 +device: cuda:0 +num_steps_per_env: 24 +max_iterations: 5000 +empirical_normalization: null +obs_groups: {} +clip_actions: null +save_interval: 500 +experiment_name: wuji2_phone_capture_v2 +run_name: fulldr +logger: wandb +neptune_project: dex-retarget +wandb_project: dex-retarget +resume: true +load_run: .* +load_checkpoint: model_.*.pt +class_name: OnPolicyRunner +policy: + class_name: CustomActorCritic + init_noise_std: 0.5 + noise_std_type: scalar + actor_obs_normalization: true + critic_obs_normalization: true + actor_hidden_dims: + - 1024 + - 512 + - 256 + - 128 + critic_hidden_dims: + - 1024 + - 512 + - 256 + - 128 + activation: elu + zero_init_actor_last_layer: true +algorithm: + class_name: PPO + num_learning_epochs: 5 + num_mini_batches: 4 + learning_rate: 0.001 + schedule: adaptive + gamma: 0.998 + lam: 0.95 + entropy_coef: 0.002 + desired_kl: 0.01 + max_grad_norm: 1.0 + value_loss_coef: 1.0 + use_clipped_value_loss: true + clip_param: 0.2 + normalize_advantage_per_mini_batch: false + rnd_cfg: null + symmetry_cfg: null diff --git a/objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/config/config.json b/objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/config/config.json new file mode 100644 index 0000000000000000000000000000000000000000..fc783109e5f9824612d234c1ec2e4372fd8f8c58 --- /dev/null +++ b/objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/config/config.json @@ -0,0 +1,1934 @@ +{ + "alg_cfg": { + "lam": 0.95, + "gamma": 0.998, + "rnd_cfg": null, + "schedule": "adaptive", + "clip_param": 0.2, + "desired_kl": 0.01, + "entropy_coef": 0.002, + "symmetry_cfg": null, + "learning_rate": 0.001, + "max_grad_norm": 1, + "value_loss_coef": 1, + "num_mini_batches": 4, + "num_learning_epochs": 5, + "use_clipped_value_loss": true, + "normalize_advantage_per_mini_batch": false + }, + "env_cfg": { + "xr": null, + "sim": { + 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0.998, + "rnd_cfg": null, + "schedule": "adaptive", + "clip_param": 0.2, + "desired_kl": 0.01, + "entropy_coef": 0.002, + "symmetry_cfg": null, + "learning_rate": 0.001, + "max_grad_norm": 1, + "value_loss_coef": 1, + "num_mini_batches": 4, + "num_learning_epochs": 5, + "use_clipped_value_loss": true, + "normalize_advantage_per_mini_batch": false + }, + "class_name": "OnPolicyRunner", + "obs_groups": { + "critic": [ + "critic" + ], + "policy": [ + "policy" + ] + }, + "clip_actions": null, + "save_interval": 500, + "wandb_project": "dex-retarget", + "max_iterations": 5000, + "experiment_name": "wuji2_phone_capture_v2", + "load_checkpoint": "model_.*.pt", + "neptune_project": "dex-retarget", + "num_steps_per_env": 24, + "empirical_normalization": null + } +} diff --git a/objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/config/context.json b/objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/config/context.json new file mode 100644 index 0000000000000000000000000000000000000000..cb42b9bd8180cae0b643a0112f1e1c52392b7bfd --- /dev/null +++ b/objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/config/context.json @@ -0,0 +1,56 @@ +{ + "bundle": { + "path": "data/new_data_batch1/manifest.json", + "sha256": "8da5aa7baf9896af403997673f25ecb5539880eef4e4d23e63adb8beedc4a0bd" + }, + "capture_id": "marker_009", + "control_hz": 30.0, + "control_motion_steps": 333, + "geometry": { + "keypoints": { + "path": "data/new_data_batch1/objects/marker/keypoints.npy", + "sha256": "d275f0574698f9fecf86a420d2d6c49950bc5c750898dc103dde5f90c34ff86f" + }, + "properties": { + "path": "data/new_data_batch1/objects/marker/properties.json", + "sha256": "606f6e5d7efca3f4ef42f05a8173cb536ba389b3d473171388119e8c7793e2e5" + }, + "urdf": { + "path": "data/new_data_batch1/objects/marker/object.urdf", + "sha256": "779c966ec631d86688f17a205e2412a8ecf59202c7e96eaf8752a5a2f73d8fcf" + }, + "usd": { + "path": "data/new_data_batch1/objects/marker/object.usda", + "sha256": "23472b1831c9051fef037a4981c6108ef0ea626ef3c186889935486f19330dfb" + }, + "visual": { + "path": "data/new_data_batch1/objects/marker/visual.obj", + "sha256": "435a710afb84d4a3121f0389f60b1424fed93958cac07ce38d1e2e1317814203" + } + }, + "hold_steps": 15, + "human": { + "path": "data/new_data_batch1/cases/marker_009/human.h5", + "sha256": "dad91062c076ab4ef78df60119e51d5a9cdb372946a58aba63d60c390876ce94" + }, + "robot_usd": "third_party/wuji-description/hand2/hand2_beta1/body/usd/right/wujihand2.usd", + "schema": "dex_prepared_training_context_v1", + "source_frames": 666, + "source_hz": 60.0, + "terminal_bootstrap_protocol": "WUJI2-TerminalBootstrap-20261008-v1", + "training_only": true, + "trajectory": { + "path": "data/new_data_batch1/cases/marker_009/trajectory.h5", + "sha256": "e800d13684d86fc812a8036e1e786fe5f143d0a2b326d12bb96dcfc7ae796593" + }, + "workspace_lower_m": [ + 0.00406169333993571, + 0.29276214415176516, + 0.23492100417885878 + ], + "workspace_upper_m": [ + 0.12309522213846205, + 0.4169984832791166, + 0.32663557445845737 + ] +} diff --git a/objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/config/env.yaml b/objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/config/env.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e391f6973f01ce46b8a5ee7fa2c8ffa31b73d916 --- /dev/null +++ b/objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/config/env.yaml @@ -0,0 +1,1508 @@ +viewer: + eye: !!python/tuple + - 0.45 + - -0.45 + - 0.32 + lookat: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + cam_prim_path: /OmniverseKit_Persp + resolution: !!python/tuple + - 1280 + - 720 + origin_type: world + env_index: 0 + asset_name: null + body_name: null +sim: + physics_prim_path: /physicsScene + device: cuda:0 + dt: 0.008333333333333333 + render_interval: 4 + gravity: !!python/tuple + - 0.0 + - 0.0 + - -9.81 + enable_scene_query_support: false + use_fabric: true + physx: + solver_type: 1 + min_position_iteration_count: 1 + max_position_iteration_count: 192 + min_velocity_iteration_count: 0 + max_velocity_iteration_count: 1 + enable_ccd: false + enable_stabilization: false + enable_enhanced_determinism: false + bounce_threshold_velocity: 0.2 + friction_offset_threshold: 0.01 + friction_correlation_distance: 0.00625 + gpu_max_rigid_contact_count: 8388608 + gpu_max_rigid_patch_count: 8388608 + gpu_found_lost_pairs_capacity: 2097152 + gpu_found_lost_aggregate_pairs_capacity: 33554432 + gpu_total_aggregate_pairs_capacity: 2097152 + gpu_collision_stack_size: 268435456 + gpu_heap_capacity: 67108864 + gpu_temp_buffer_capacity: 16777216 + gpu_max_num_partitions: 1 + gpu_max_soft_body_contacts: 1048576 + gpu_max_particle_contacts: 1048576 + solve_articulation_contact_last: false + physics_material: + func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material + static_friction: 1.0 + dynamic_friction: 1.0 + restitution: 0.0 + friction_combine_mode: average + restitution_combine_mode: average + compliant_contact_stiffness: 0.0 + compliant_contact_damping: 0.0 + render: + enable_translucency: null + enable_reflections: null + enable_global_illumination: null + antialiasing_mode: null + enable_dlssg: null + enable_dl_denoiser: null + dlss_mode: null + enable_direct_lighting: null + samples_per_pixel: null + enable_shadows: null + enable_ambient_occlusion: null + dome_light_upper_lower_strategy: null + carb_settings: null + rendering_mode: null + create_stage_in_memory: false +ui_window_class_type: isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow +seed: 1 +decimation: 4 +scene: + num_envs: 1024 + env_spacing: 0.75 + lazy_sensor_update: true + replicate_physics: true + filter_collisions: true + clone_in_fabric: false + table: null + object: + class_type: isaaclab.assets.rigid_object.rigid_object:RigidObject + prim_path: /World/envs/env_.*/Object + spawn: + func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd + visible: true + semantic_tags: null + copy_from_source: true + mass_props: null + deformable_props: null + rigid_props: + rigid_body_enabled: null + kinematic_enabled: false + disable_gravity: false + linear_damping: null + angular_damping: null + max_linear_velocity: null + max_angular_velocity: null + max_depenetration_velocity: 5.0 + max_contact_impulse: null + enable_gyroscopic_forces: true + retain_accelerations: null + solver_position_iteration_count: 8 + solver_velocity_iteration_count: 0 + sleep_threshold: 0.005 + stabilization_threshold: 0.0025 + collision_props: null + activate_contact_sensors: true + scale: null + articulation_props: + articulation_enabled: false + enabled_self_collisions: null + solver_position_iteration_count: null + solver_velocity_iteration_count: null + sleep_threshold: null + stabilization_threshold: null + fix_root_link: null + fixed_tendons_props: null + spatial_tendons_props: null + joint_drive_props: null + visual_material_path: material + visual_material: null + usd_path: /data/dexr_b1/rel/data/new_data_batch1/objects/marker/object.usda + variants: null + init_state: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + lin_vel: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + ang_vel: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + collision_group: 0 + debug_vis: false + robot: + class_type: isaaclab.assets.articulation.articulation:Articulation + prim_path: /World/envs/env_.*/Robot + spawn: + func: regrind.robots.free_wuji_hand2_routea_v1:spawn_wuji2_routea_floating + visible: true + semantic_tags: null + copy_from_source: true + mass_props: null + deformable_props: null + rigid_props: + rigid_body_enabled: null + kinematic_enabled: null + disable_gravity: true + linear_damping: null + angular_damping: null + max_linear_velocity: null + max_angular_velocity: null + max_depenetration_velocity: 5.0 + max_contact_impulse: null + enable_gyroscopic_forces: null + retain_accelerations: null + solver_position_iteration_count: null + solver_velocity_iteration_count: null + sleep_threshold: null + stabilization_threshold: null + collision_props: + collision_enabled: null + contact_offset: 0.0015 + rest_offset: 0.0012 + torsional_patch_radius: null + min_torsional_patch_radius: null + activate_contact_sensors: true + scale: null + articulation_props: + articulation_enabled: null + enabled_self_collisions: true + solver_position_iteration_count: 32 + solver_velocity_iteration_count: 1 + sleep_threshold: 0.005 + stabilization_threshold: 0.0005 + fix_root_link: false + fixed_tendons_props: null + spatial_tendons_props: null + joint_drive_props: null + visual_material_path: material + visual_material: null + usd_path: /data/dexr_b1/rel/third_party/wuji-description/hand2/hand2_beta1/body/usd/right/wujihand2.usd + variants: null + init_state: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + lin_vel: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + ang_vel: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + joint_pos: + r_thumb_cmc_flex: 0.0 + r_thumb_cmc_abd: 0.0 + r_thumb_mcp: 0.0 + r_thumb_ip: 0.0 + r_index_finger_mcp_flex: 0.0 + r_index_finger_mcp_abd: 0.0 + r_index_finger_pip: 0.0 + r_index_finger_dip: 0.0 + r_middle_finger_mcp_flex: 0.0 + r_middle_finger_mcp_abd: 0.0 + r_middle_finger_pip: 0.0 + r_middle_finger_dip: 0.0 + r_ring_finger_mcp_flex: 0.0 + r_ring_finger_mcp_abd: 0.0 + r_ring_finger_pip: 0.0 + r_ring_finger_dip: 0.0 + r_pinky_mcp_flex: 0.0 + r_pinky_mcp_abd: 0.0 + r_pinky_pip: 0.0 + r_pinky_dip: 0.0 + joint_vel: + .*: 0.0 + collision_group: 0 + debug_vis: false + articulation_root_prim_path: /r_wrist + soft_joint_pos_limit_factor: 1.0 + actuators: + fingers: + class_type: isaaclab.actuators.actuator_pd:ImplicitActuator + joint_names_expr: + - r_thumb_cmc_flex + - r_thumb_cmc_abd + - r_thumb_mcp + - r_thumb_ip + - r_index_finger_mcp_flex + - r_index_finger_mcp_abd + - r_index_finger_pip + - r_index_finger_dip + - r_middle_finger_mcp_flex + - r_middle_finger_mcp_abd + - r_middle_finger_pip + - r_middle_finger_dip + - r_ring_finger_mcp_flex + - r_ring_finger_mcp_abd + - r_ring_finger_pip + - r_ring_finger_dip + - r_pinky_mcp_flex + - r_pinky_mcp_abd + - r_pinky_pip + - r_pinky_dip + effort_limit: null + velocity_limit: null + effort_limit_sim: null + velocity_limit_sim: null + stiffness: null + damping: null + armature: null + friction: null + dynamic_friction: null + viscous_friction: null + actuator_value_resolution_debug_print: false + light: + class_type: null + prim_path: /World/Light + spawn: + func: isaaclab.sim.spawners.lights.lights:spawn_light + visible: true + semantic_tags: null + copy_from_source: true + prim_type: DomeLight + color: !!python/tuple + - 0.75 + - 0.75 + - 0.75 + enable_color_temperature: false + color_temperature: 6500.0 + normalize: false + exposure: 0.0 + intensity: 2000.0 + texture_file: null + texture_format: automatic + visible_in_primary_ray: true + init_state: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + collision_group: 0 + debug_vis: false + contact_forces: + class_type: isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor + prim_path: /World/envs/env_.*/Robot/.* + update_period: 0.0 + history_length: 3 + debug_vis: true + track_pose: false + track_contact_points: false + max_contact_data_count_per_prim: 4 + track_air_time: true + force_threshold: 0.5 + filter_prim_paths_expr: [] + visualizer_cfg: + prim_path: /Visuals/ContactSensor + markers: + contact: + func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere + visible: true + semantic_tags: null + copy_from_source: true + mass_props: null + rigid_props: null + collision_props: null + activate_contact_sensors: false + visual_material_path: material + visual_material: + func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface + diffuse_color: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + emissive_color: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + roughness: 0.5 + metallic: 0.0 + opacity: 1.0 + physics_material_path: material + physics_material: null + radius: 0.02 + no_contact: + func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere + visible: false + semantic_tags: null + copy_from_source: true + mass_props: null + rigid_props: null + collision_props: null + activate_contact_sensors: false + visual_material_path: material + visual_material: + func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface + diffuse_color: !!python/tuple + - 0.0 + - 1.0 + - 0.0 + emissive_color: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + roughness: 0.5 + metallic: 0.0 + opacity: 1.0 + physics_material_path: material + physics_material: null + radius: 0.02 + tf_fingertips: + class_type: isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer + prim_path: /World/envs/env_.*/Robot/r_wrist + update_period: 0.0 + history_length: 0 + debug_vis: false + source_frame_offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + target_frames: + - prim_path: /World/envs/env_.*/Robot/r_thumb_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - prim_path: /World/envs/env_.*/Robot/r_index_finger_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - prim_path: /World/envs/env_.*/Robot/r_middle_finger_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - prim_path: /World/envs/env_.*/Robot/r_ring_finger_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - prim_path: /World/envs/env_.*/Robot/r_pinky_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + visualizer_cfg: + prim_path: /Visuals/SiteFrameTransformer_fingertips + markers: + frame: + func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd + visible: true + semantic_tags: null + copy_from_source: true + mass_props: null + deformable_props: null + rigid_props: null + collision_props: null + activate_contact_sensors: false + scale: !!python/tuple + - 0.05 + - 0.05 + - 0.05 + articulation_props: null + fixed_tendons_props: null + spatial_tendons_props: null + joint_drive_props: null + visual_material_path: material + visual_material: null + usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/UIElements/frame_prim.usd + variants: null + connecting_line: + func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder + visible: true + semantic_tags: null + copy_from_source: true + mass_props: null + rigid_props: null + collision_props: null + activate_contact_sensors: false + visual_material_path: material + visual_material: + func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface + diffuse_color: !!python/tuple + - 1.0 + - 1.0 + - 0.0 + emissive_color: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + roughness: 1.0 + metallic: 0.0 + opacity: 1.0 + physics_material_path: material + physics_material: null + radius: 0.002 + height: 1.0 + axis: Z +recorders: + dataset_file_handler_class_type: isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler + dataset_export_dir_path: /tmp/isaaclab/logs + dataset_filename: dataset + dataset_export_mode: + _value_: 1 + _name_: EXPORT_ALL + _sort_order_: 1 + export_in_record_pre_reset: true +observations: + policy: + concatenate_terms: true + concatenate_dim: -1 + enable_corruption: false + history_length: null + flatten_history_dim: true + object_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:object_pos + params: + command_name: motion + delay_key: object_pos + apply_noise: true + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + object_ori: + func: regrind.tasks.manager_based.dexterous.mdp.observations:object_ori + params: + command_name: motion + delay_key: object_quat + apply_noise: true + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + object_joint: null + hand_wrist_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_pos + params: + command_name: motion + delay_key: hand_wrist_pos + apply_noise: true + relative_to_default: false + modifiers: null + noise: null + clip: null + scale: null + history_length: 3 + flatten_history_dim: true + hand_wrist_rot6d: + func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_rot6d + params: + command_name: motion + delay_key: hand_wrist_quat + apply_noise: true + relative_to_default: false + modifiers: null + noise: null + clip: null + scale: null + history_length: 3 + flatten_history_dim: true + hand_joint_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_joint_pos + params: + command_name: motion + delay_key: hand_joint_pos + apply_noise: true + relative_to_default: true + modifiers: null + noise: null + clip: null + scale: null + history_length: 3 + flatten_history_dim: true + actions: + func: isaaclab.envs.mdp.observations:last_action + params: {} + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + command: + func: isaaclab.envs.mdp.observations:generated_commands + params: + command_name: motion + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + action_base_wrist_pos_and_rot6d: + func: regrind.tasks.manager_based.dexterous.mdp.observations:action_base_wrist_pos_and_rot6d + params: + action_term_name: root_pose + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + action_base_hand_joint_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:action_base_hand_joint_pos + params: + action_term_name: joint_pos + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + critic: + concatenate_terms: true + concatenate_dim: -1 + enable_corruption: false + history_length: null + flatten_history_dim: true + object_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:object_pos + params: + command_name: motion + apply_noise: true + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + object_ori: + func: regrind.tasks.manager_based.dexterous.mdp.observations:object_ori + params: + command_name: motion + apply_noise: true + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + object_joint: null + hand_wrist_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_pos + params: + command_name: motion + apply_noise: true + modifiers: null + noise: null + clip: null + scale: null + history_length: 3 + flatten_history_dim: true + hand_wrist_rot6d: + func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_rot6d + params: + command_name: motion + apply_noise: true + modifiers: null + noise: null + clip: null + scale: null + history_length: 3 + flatten_history_dim: true + hand_joint_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_joint_pos + params: + command_name: motion + apply_noise: true + modifiers: null + noise: null + clip: null + scale: null + history_length: 3 + flatten_history_dim: true + actions: + func: isaaclab.envs.mdp.observations:last_action + params: {} + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + command: + func: isaaclab.envs.mdp.observations:generated_commands + params: + command_name: motion + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + action_base_wrist_pos_and_rot6d: + func: regrind.tasks.manager_based.dexterous.mdp.observations:action_base_wrist_pos_and_rot6d + params: + action_term_name: root_pose + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + action_base_hand_joint_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:action_base_hand_joint_pos + params: + action_term_name: joint_pos + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + fingertips_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:fingertips_pos + params: + command_name: motion + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + hand_joint_vel: + func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_joint_vel + params: + command_name: motion + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + target_object_joint: null +actions: + root_pose: + class_type: regrind.tasks.manager_based.dexterous.mdp.actions:SE3ImpedanceActionTerm + asset_name: robot + debug_vis: false + clip: null + raw_clip: !!python/tuple + - -1.0 + - 1.0 + scale_pos: 0.03333333333333333 + scale_rot: 0.10666666666666667 + translation_delta_frame: world + rotation_delta_frame: world + max_target_pos_step: null + max_target_rot_step: null + kp_pos: 300.0 + kd_pos: 30.0 + kp_rot: 3.0 + kd_rot: 0.3 + base_action_source: motion_target + command_name: motion + body_name: r_wrist + joint_pos: + class_type: regrind.tasks.manager_based.dexterous.mdp.actions:ClippedRelativeJointPositionAction + asset_name: robot + debug_vis: false + clip: null + joint_names: + - r_thumb_cmc_flex + - r_thumb_cmc_abd + - r_thumb_mcp + - r_thumb_ip + - r_index_finger_mcp_flex + - r_index_finger_mcp_abd + - r_index_finger_pip + - r_index_finger_dip + - r_middle_finger_mcp_flex + - r_middle_finger_mcp_abd + - r_middle_finger_pip + - r_middle_finger_dip + - r_ring_finger_mcp_flex + - r_ring_finger_mcp_abd + - r_ring_finger_pip + - r_ring_finger_dip + - r_pinky_mcp_flex + - r_pinky_mcp_abd + - r_pinky_pip + - r_pinky_dip + scale: + .*: 0.10666666666666667 + offset: 0.0 + preserve_order: true + use_zero_offset: true + raw_clip: !!python/tuple + - -1.0 + - 1.0 + base_action_source: motion_target + command_name: motion + max_target_step: null +events: + object_com: null + object_scale: null + object_joint_friction: null + robot_physics_material: + func: isaaclab.envs.mdp.events:randomize_rigid_body_material + params: + asset_cfg: + name: robot + joint_names: null + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: .* + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + static_friction_range: !!python/tuple + - 0.7 + - 1.3 + dynamic_friction_range: !!python/tuple + - 0.7 + - 1.3 + restitution_range: !!python/tuple + - 0.0 + - 0.0 + num_buckets: 250 + make_consistent: true + mode: startup + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + robot_scale_mass: + func: isaaclab.envs.mdp.events:randomize_rigid_body_mass + params: + asset_cfg: + name: robot + joint_names: null + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: .* + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + mass_distribution_params: !!python/tuple + - 0.95 + - 1.05 + operation: scale + mode: startup + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + robot_joint_stiffness_and_damping: + func: isaaclab.envs.mdp.events:randomize_actuator_gains + params: + asset_cfg: + name: robot + joint_names: .* + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: null + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + stiffness_distribution_params: !!python/tuple + - 0.9 + - 1.1 + damping_distribution_params: !!python/tuple + - 0.9 + - 1.1 + operation: scale + distribution: log_uniform + mode: startup + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + init_zero_joint_default_pos: + func: regrind.envs.events:init_zero_joint_default_pos + params: + asset_cfg: + name: robot + joint_names: .* + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: null + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + mode: startup + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + robot_fingers_joint_pos_offset: + func: regrind.envs.events:randomize_joint_default_pos + params: + asset_cfg: + name: robot + joint_names: + - r_(thumb|index_finger|middle_finger|ring_finger)_.* + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: null + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + pos_distribution_params: !!python/tuple + - -0.025 + - 0.025 + operation: abs + action_term_name: joint_pos + mode: startup + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + robot_wrist_translation_joint_pos_offset: null + robot_wrist_rotation_joint_pos_offset: null + init_obs_delay_buffers: + func: regrind.envs.events:init_obs_delay_buffers + params: {} + mode: startup + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + table_physics_material: null + object_physics_material: + func: isaaclab.envs.mdp.events:randomize_rigid_body_material + params: + asset_cfg: + name: object + joint_names: null + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: .* + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + static_friction_range: !!python/tuple + - 0.5 + - 1.5 + dynamic_friction_range: !!python/tuple + - 0.5 + - 1.5 + restitution_range: !!python/tuple + - 0.0 + - 0.0 + num_buckets: 250 + make_consistent: true + mode: startup + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + object_scale_mass: + func: pipeline.isaac_task:bind_physics + params: + asset_cfg: + name: object + joint_names: null + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: null + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + randomize: true + mode: startup + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + observation_time_lag: + func: regrind.envs.events:randomize_observation_time_lag + params: + time_lag_ranges: + object_pos: !!python/tuple + - 0 + - 2 + object_quat: !!python/tuple + - 0 + - 2 + object_joint: !!python/tuple + - 0 + - 2 + hand_wrist_pos: !!python/tuple + - 0 + - 2 + hand_wrist_quat: !!python/tuple + - 0 + - 2 + hand_joint_pos: !!python/tuple + - 0 + - 2 + continuous_time_lag: true + mode: reset + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + curriculum_gravity: null + curriculum_random_push_robot: + func: regrind.envs.events:curriculum_random_push + params: + asset_cfg: + name: robot + joint_names: null + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: null + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + push_velocity_stages: + - - 0 + - x: + - -0.05 + - 0.05 + y: + - -0.05 + - 0.05 + z: + - -0.05 + - 0.05 + roll: + - -0.1 + - 0.1 + pitch: + - -0.1 + - 0.1 + yaw: + - -0.1 + - 0.1 + mode: interval + interval_range_s: !!python/tuple + - 1.0 + - 5.0 + is_global_time: false + min_step_count_between_reset: 0 + curriculum_random_push_object: + func: regrind.envs.events:curriculum_random_push + params: + asset_cfg: + name: object + joint_names: null + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: null + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + push_velocity_stages: + - - 0 + - x: + - -0.05 + - 0.05 + y: + - -0.05 + - 0.05 + z: + - -0.05 + - 0.05 + roll: + - -0.1 + - 0.1 + pitch: + - -0.1 + - 0.1 + yaw: + - -0.1 + - 0.1 + mode: interval + interval_range_s: !!python/tuple + - 1.0 + - 5.0 + is_global_time: false + min_step_count_between_reset: 0 +rerender_on_reset: false +wait_for_textures: true +xr: null +teleop_devices: + devices: {} +export_io_descriptors: false +io_descriptors_output_dir: null +log_dir: /data/dexr_b1/rel/outputs/b1_grav_on_b1-7/marker_009/fulldr/training +is_finite_horizon: false +episode_length_s: 11.1 +rewards: + object_keypoints_pos_error_exp: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:object_keypoints_pos_error_exp + params: + command_name: motion + std: 0.015 + shaping_func: exp + weight: 3.0 + object_lin_vel_error_exp: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:object_lin_vel_error_exp + params: + command_name: motion + std: 1.0 + shaping_func: exp + weight: 1.0 + object_ang_vel_error_exp: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:object_ang_vel_error_exp + params: + command_name: motion + std: 3.14 + shaping_func: exp + weight: 1.0 + hand_wrist_pos_error_exp: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:hand_wrist_pos_error_exp + params: + command_name: motion + std: 0.02 + shaping_func: exp + weight: 0.1 + hand_wrist_rot_error_exp: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:hand_wrist_rot_error_exp + params: + command_name: motion + std: 0.2 + shaping_func: exp + weight: 0.1 + action_l2_exp: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:action_l2_exp + params: + command_name: motion + std: 1.0 + weight: 0.5 + action_rate_l2_exp: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:action_rate_l2_exp + params: + command_name: motion + std: 0.5 + weight: 1.0 + action_out_of_bounds_exp: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:action_out_of_bounds_exp + params: + std: 1.0 + weight: 1.0 + early_terminated_penalty: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:is_early_terminated + params: {} + weight: -10.0 + fingertip_object_graph_error_exp: + func: regrind.tasks.manager_based.dexterous.mdp.episode1_rewards:fingertip_object_graph_error_exp + params: + command_name: motion + std: 0.03 + weight: 0.75 + functional_terminal_pose_exp: null + forbidden_root_phone_contact: null +terminations: + time_out: + func: isaaclab.envs.mdp.terminations:time_out + params: {} + time_out: true + demo_end_reached: + func: regrind.tasks.manager_based.dexterous.mdp.terminations:demo_end_reached + params: + command_name: motion + time_out: false + object_deviation: + func: regrind.tasks.manager_based.dexterous.mdp.terminations:object_deviation + params: + command_name: motion + threshold: 0.15 + time_out: false + object_out_of_bounds: + func: regrind.tasks.manager_based.dexterous.mdp.terminations:object_out_of_bounds + params: + command_name: motion + time_out: false + hand_far_from_object: + func: regrind.tasks.manager_based.dexterous.mdp.terminations:hand_far_from_object + params: + command_name: motion + threshold: 0.5 + time_out: false + hit_table: null +curriculum: {} +commands: + motion: + class_type: regrind.tasks.manager_based.dexterous.mdp.commands:MotionCommand + resampling_time_range: !!python/tuple + - 1000000000.0 + - 1000000000.0 + debug_vis: false + object_asset_name: object + robot_asset_name: robot + tf_asset_names: + - tf_fingertips + demo_path: /data/dexr_b1/rel/data/new_data_batch1/cases/marker_009/human.h5 + demo_dt: 0.016666666666666666 + retargeted_traj_path: /data/dexr_b1/rel/data/new_data_batch1/cases/marker_009/trajectory.h5 + required_robot_root_mode: free + source_frame_count: null + consumer_window_start_inclusive: null + consumer_window_end_exclusive: null + required_frame_indexed_datasets: !!python/tuple [] + terminal_hold_steps: 0 + reference_steps: 333 + augmentation_traj_dir: null + keypoint_paths: + bottom: /data/dexr_b1/rel/data/new_data_batch1/objects/marker/keypoints.npy + keypoint_body_prim_paths: + bottom: '{ENV_REGEX_NS}/Object/bottom' + keypoint_scale: 1.0 + object_joint_axis: null + actuated_joint_names: + - r_thumb_cmc_flex + - r_thumb_cmc_abd + - r_thumb_mcp + - r_thumb_ip + - r_index_finger_mcp_flex + - r_index_finger_mcp_abd + - r_index_finger_pip + - r_index_finger_dip + - r_middle_finger_mcp_flex + - r_middle_finger_mcp_abd + - r_middle_finger_pip + - r_middle_finger_dip + - r_ring_finger_mcp_flex + - r_ring_finger_mcp_abd + - r_ring_finger_pip + - r_ring_finger_dip + - r_pinky_mcp_flex + - r_pinky_mcp_abd + - r_pinky_pip + - r_pinky_dip + fingertip_keypoint_indices: !!python/tuple + - 4 + - 8 + - 12 + - 16 + - 20 + fingertip_frame_names: !!python/tuple + - r_thumb_tip + - r_index_finger_tip + - r_middle_finger_tip + - r_ring_finger_tip + - r_pinky_tip + enable_reset_perturbation: true + traj_aug_enabled: false + traj_aug_translation_lower_bound: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + traj_aug_translation_upper_bound: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + traj_aug_yaw_range: !!python/tuple + - 0.0 + - 0.0 + traj_aug_start: 0.0 + traj_aug_use: 1.0 + traj_aug_apply_to_hand: true + rand_wrist_pos_range: !!python/tuple + - -0.005 + - 0.005 + rand_wrist_rot_range: !!python/tuple + - -0.05 + - 0.05 + rand_finger_joint_pos_range: !!python/tuple + - -0.05 + - 0.05 + rand_object_pos_range: !!python/tuple + - -0.005 + - 0.005 + rand_object_rot_range: !!python/tuple + - -0.05 + - 0.05 + rand_object_joint_range: !!python/tuple + - -0.05 + - 0.05 + adaptive_kernel_size: 1 + adaptive_lambda: 0.8 + adaptive_uniform_ratio: 0.1 + adaptive_alpha: 0.001 + adaptive_sampling_enabled: false + rsi_enabled: true + debug_vis_marker_scale: 0.5 + debug_vis_keypoints: false + debug_vis_contact_force_arrows: false + contact_force_arrow_scale: 0.0005 + contact_force_arrow_min_length: 0.008 + contact_force_arrow_max_length: 0.12 + object_pos_lower_bound: !!python/tuple + - 0.00406169333993571 + - 0.29276214415176516 + - 0.23492100417885878 + object_pos_upper_bound: !!python/tuple + - 0.12309522213846205 + - 0.4169984832791166 + - 0.32663557445845737 + shared_translation_range: !!python/tuple + - -0.03 + - 0.03 + shared_rotation_range_rad: !!python/tuple + - -0.2617993877991494 + - 0.2617993877991494 + finger_joint_perturbation_range_rad: !!python/tuple + - -0.025 + - 0.025 +obs_max_lags: + object_pos: 2 + object_quat: 2 + object_joint: 2 + hand_wrist_pos: 2 + hand_wrist_quat: 2 + hand_joint_pos: 2 +tf_source_prim_path: '{ENV_REGEX_NS}/Robot/r_wrist' +tf_target_frames: + fingertips: + - prim_path: /World/envs/env_.*/Robot/r_thumb_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - prim_path: /World/envs/env_.*/Robot/r_index_finger_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - prim_path: /World/envs/env_.*/Robot/r_middle_finger_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - prim_path: /World/envs/env_.*/Robot/r_ring_finger_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - prim_path: /World/envs/env_.*/Robot/r_pinky_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 +enable_contact_sensor: true +include_contact_forces_in_critic_obs: false diff --git a/objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/config/requirements.txt b/objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/config/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..820c582855e6de22f5b1a4fc482340de6d48e430 --- /dev/null +++ b/objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/config/requirements.txt @@ -0,0 +1,230 @@ +isaaclab==0.47.2 +isaaclab_assets==0.2.3 +isaaclab_tasks==0.11.6 +isaaclab_rl==0.4.4 +isaacsim-benchmark==5.1.0.0 +isaacsim-example==5.1.0.0 +torchvision==0.22.0 +onnx-ir==1.0.0 +pytransform3d==3.17.0 +tensordict==0.13.0 +portalocker==2.7.0 +Rtree==1.3.0 +nvidia-cusparselt-cu12==0.6.3 +isaacsim-storage==5.1.0.0 +nvidia-cuda-nvrtc-cu12==12.6.77 +wrapt==1.16.0 +osqp==0.6.7.post3 +proglog==0.1.12 +awscrt==0.23.8 +isaacsim-template==5.1.0.0 +isaacsim-extscache-kit-sdk==5.1.0.0 +tqdm==4.70.1 +packaging==23.0 +typing_extensions==4.12.2 +toml==0.10.2 +PyJWT==2.15.1 +psutil==5.9.8 +pluggy==1.6.0 +s3transfer==0.13.1 +gitdb==4.0.12 +charset-normalizer==3.3.2 +isaacsim-test==5.1.0.0 +omegaconf==2.3.1 +aiofiles==23.2.1 +uvicorn==0.29.0 +antlr4-python3-runtime==4.9.3 +gymnasium==1.2.0 +Markdown==3.11 +h5py==3.16.0 +aiohttp==3.11.11 +torchaudio==2.7.0 +certifi==2026.7.22 +filelock==3.13.1 +azure-storage-blob==12.17.0 +isaaclab_tasks==0.11.6 +httptools==0.6.1 +imageio-ffmpeg==0.6.0 +propcache==0.2.1 +yarl==1.18.3 +asteval==1.0.6 +azure-core==1.28.0 +azure-identity==1.13.0 +sympy==1.13.3 +rsl-rl-lib==3.0.1 +qpsolvers==4.13.0 +huggingface_hub==0.36.2 +GitPython==3.2.0 +Pygments==2.21.0 +protobuf==7.36.2 +nvidia-cudnn-cu12==9.5.1.17 +iniconfig==2.3.1 +isaaclab_assets==0.2.3 +loop-rate-limiters==1.2.0 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No deserialization or simulation performed in this archive.", + "claims": { + "reward_selected": true, + "independent_evaluation": "NOT_PROVIDED", + "rollout_videos": "NOT_PROVIDED", + "new_evaluation_run": false, + "training_input_equivalence_to_existing_hf_stage2": false + } +} diff --git a/objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/source/reward_selection.json b/objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/source/reward_selection.json new file mode 100644 index 0000000000000000000000000000000000000000..92447803a4d433a772882784e7ab1bdb6e6c46e9 --- /dev/null +++ b/objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/source/reward_selection.json @@ -0,0 +1,12 @@ +{ + "metric": "Episode_Reward/object_keypoints_pos_error_exp", + "operator": ">", + "threshold": 1.0, + "observed_step": 9998, + "observed_value": 1.008894920349121, + "rule": "Final checkpoint at the exact logged step, not historical maximum or smoothed reward", + "run_id": "jdfgpdaq", + "wandb_url": "https://wandb.ai/dfnet/dex-retarget/runs/jdfgpdaq", + "read_at": 1791753858.5959227, + "evaluation_success_inferred": false +} diff --git a/objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/source/wandb_receipt.json b/objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/source/wandb_receipt.json new file mode 100644 index 0000000000000000000000000000000000000000..8affcacab4701e2f98e49f5d810073cb777ce838 --- /dev/null +++ b/objects/marker/trajectories/marker_009/wuji2/stage3/jdfgpdaq/source/wandb_receipt.json @@ -0,0 +1,13 @@ +{ + "checkpoint": { + "path": "outputs/b1_grav_on_b1-7/marker_009/fulldr/training/model_9998.pt", + "sha256": "a39670fdd5ca77e452e1fd1bf938aef2ec5d92866a7c276a5e96c74939d4bb8e" + }, + "contents": "model (including observation normalizers), optimizer, iteration and audited stage progress", + "mode": "online", + "run_id": "jdfgpdaq", + "run_url": "https://wandb.ai/dfnet/dex-retarget/runs/jdfgpdaq", + "schema": "dex_wandb_checkpoint_v1", + "selection": "final optimizer update; not evaluation-selected", + "wandb_file": "model_9998.pt" +} diff --git a/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/README.md b/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/README.md new file mode 100644 index 0000000000000000000000000000000000000000..a6e3a60e7a930c153205be6fe7744d549974a2c8 --- /dev/null +++ b/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/README.md @@ -0,0 +1,22 @@ +# marker_011 / WUJI2 FullDR / i277x4dj + +**CHECKPOINT_ARCHIVED — INCOMPLETE_FOR_EVALUATION** + +Final model: `checkpoints/model_9998.pt`. Source [W&B run](https://wandb.ai/dfnet/dex-retarget/runs/i277x4dj). +Source FullDR stage:5000 additional PPO updates, resumed iteration4999, +final saved iteration9998. This is the final model, not a best-reward checkpoint. +Selection: `Episode_Reward/object_keypoints_pos_error_exp` at logged step9998 = **1.00417387 > 1**. +Reward selection is not an evaluation pass. + +Checkpoint SHA256: `27cd8d79b2458ac6a1e3cb7d7f62e9d0eeb5cbdc4fa04b9c989e3de163e8e56c`. +The uploaded file is unchanged and includes the original serialized policy state. +Exact source configurations, context, resume record and receipt accompany it. + +## Missing evaluation inputs + +The actual training retarget H5 has SHA256 `d7852cea04bf31865a0bf233cce643656ab869e9865f3d7d35897e1b59b8efdb`. +The existing same-trajectory HF Stage2 H5 has SHA256 `09778a165d8eddc0be081aadb6ee6228a95edb2be426f1e6315d3791d0ce7a27`. +**They are different artifacts. Do not silently substitute the existing Stage2.** +See [dependencies](dependencies.json) for exact human/retarget H5, geometry, +source bundle and robot requirements. Historical paths are source provenance only. +This release does not include newly run evaluation,32-seed metrics or rollout videos. diff --git a/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/checkpoints/model_9998.pt b/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/checkpoints/model_9998.pt new file mode 100644 index 0000000000000000000000000000000000000000..5c39b51ce0d68d5095f2704646de5fe0b3cfd12c --- /dev/null +++ b/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/checkpoints/model_9998.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:27cd8d79b2458ac6a1e3cb7d7f62e9d0eeb5cbdc4fa04b9c989e3de163e8e56c +size 20801589 diff --git a/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/config/agent.yaml b/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/config/agent.yaml new file mode 100644 index 0000000000000000000000000000000000000000..33560ca84cdb80362c9c9d7fcd3505087b617561 --- /dev/null +++ b/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/config/agent.yaml @@ -0,0 +1,52 @@ +seed: 1 +device: cuda:0 +num_steps_per_env: 24 +max_iterations: 5000 +empirical_normalization: null +obs_groups: {} +clip_actions: null +save_interval: 500 +experiment_name: wuji2_phone_capture_v2 +run_name: fulldr +logger: wandb +neptune_project: dex-retarget +wandb_project: dex-retarget +resume: true +load_run: .* +load_checkpoint: model_.*.pt +class_name: OnPolicyRunner +policy: + class_name: CustomActorCritic + init_noise_std: 0.5 + noise_std_type: scalar + actor_obs_normalization: true + critic_obs_normalization: true + actor_hidden_dims: + - 1024 + - 512 + - 256 + - 128 + critic_hidden_dims: + - 1024 + - 512 + - 256 + - 128 + activation: elu + zero_init_actor_last_layer: true +algorithm: + class_name: PPO + num_learning_epochs: 5 + num_mini_batches: 4 + learning_rate: 0.001 + schedule: adaptive + gamma: 0.998 + lam: 0.95 + entropy_coef: 0.002 + desired_kl: 0.01 + max_grad_norm: 1.0 + value_loss_coef: 1.0 + use_clipped_value_loss: true + clip_param: 0.2 + normalize_advantage_per_mini_batch: false + rnd_cfg: null + symmetry_cfg: null diff --git a/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/config/config.json b/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/config/config.json new file mode 100644 index 0000000000000000000000000000000000000000..cbe5259a5c266d81055921aac05ffd87c341d3c0 --- /dev/null +++ b/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/config/config.json @@ -0,0 +1,1934 @@ +{ + "alg_cfg": { + "lam": 0.95, + "gamma": 0.998, + "rnd_cfg": null, + "schedule": "adaptive", + "clip_param": 0.2, + "desired_kl": 0.01, + "entropy_coef": 0.002, + "symmetry_cfg": null, + "learning_rate": 0.001, + "max_grad_norm": 1, + "value_loss_coef": 1, + "num_mini_batches": 4, + "num_learning_epochs": 5, + "use_clipped_value_loss": true, + "normalize_advantage_per_mini_batch": false + }, + "env_cfg": { + "xr": null, + "sim": { + 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+ "func": "regrind.tasks.manager_based.dexterous.mdp.terminations:demo_end_reached", + "params": { + "command_name": "motion" + }, + "time_out": false + }, + "object_deviation": { + "func": "regrind.tasks.manager_based.dexterous.mdp.terminations:object_deviation", + "params": { + "threshold": 0.15, + "command_name": "motion" + }, + "time_out": false + }, + "hand_far_from_object": { + "func": "regrind.tasks.manager_based.dexterous.mdp.terminations:hand_far_from_object", + "params": { + "threshold": 0.5, + "command_name": "motion" + }, + "time_out": false + }, + "object_out_of_bounds": { + "func": "regrind.tasks.manager_based.dexterous.mdp.terminations:object_out_of_bounds", + "params": { + "command_name": "motion" + }, + "time_out": false + } + }, + "episode_length_s": 7.2, + "tf_target_frames": { + "fingertips": [ + { + "name": null, + "offset": { + "pos": [ + 0, + 0, + 0 + ], + "rot": [ + 1, + 0, + 0, + 0 + ] + }, + "prim_path": "/World/envs/env_.*/Robot/r_thumb_tip" + }, + { + "name": null, + "offset": { + "pos": [ + 0, + 0, + 0 + ], + "rot": [ + 1, + 0, + 0, + 0 + ] + }, + "prim_path": "/World/envs/env_.*/Robot/r_index_finger_tip" + }, + { + "name": null, + "offset": { + "pos": [ + 0, + 0, + 0 + ], + "rot": [ + 1, + 0, + 0, + 0 + ] + }, + "prim_path": "/World/envs/env_.*/Robot/r_middle_finger_tip" + }, + { + "name": null, + "offset": { + "pos": [ + 0, + 0, + 0 + ], + "rot": [ + 1, + 0, + 0, + 0 + ] + }, + "prim_path": "/World/envs/env_.*/Robot/r_ring_finger_tip" + }, + { + "name": null, + "offset": { + "pos": [ + 0, + 0, + 0 + ], + "rot": [ + 1, + 0, + 0, + 0 + ] + }, + "prim_path": "/World/envs/env_.*/Robot/r_pinky_tip" + } + ] + }, + "is_finite_horizon": false, + "rerender_on_reset": false, + "wait_for_textures": true, + "tf_source_prim_path": "{ENV_REGEX_NS}/Robot/r_wrist", + "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", + "enable_contact_sensor": true, + "export_io_descriptors": false, + "io_descriptors_output_dir": null, + "include_contact_forces_in_critic_obs": false + }, + "log_dir": "/data/dexr_b1/cur/outputs/b1_grav_cur_b1c-4/marker_011/fulldr/training", + "policy_cfg": { + "activation": "elu", + "init_noise_std": 0.5, + "noise_std_type": "scalar", + "actor_hidden_dims": [ + 1024, + 512, + 256, + 128 + ], + "critic_hidden_dims": [ + 1024, + 512, + 256, + 128 + ], + "actor_obs_normalization": true, + "critic_obs_normalization": true, + "zero_init_actor_last_layer": true + }, + "runner_cfg": { + "seed": 1, + "device": "cuda:0", + "logger": "wandb", + "policy": { + "activation": "elu", + "init_noise_std": 0.5, + "noise_std_type": "scalar", + "actor_hidden_dims": [ + 1024, + 512, + 256, + 128 + ], + "critic_hidden_dims": [ + 1024, + 512, + 256, + 128 + ], + "actor_obs_normalization": true, + "critic_obs_normalization": true, + "zero_init_actor_last_layer": true + }, + "resume": true, + "load_run": ".*", + "run_name": "fulldr", + "algorithm": { + "lam": 0.95, + "gamma": 0.998, + "rnd_cfg": null, + "schedule": "adaptive", + "clip_param": 0.2, + "desired_kl": 0.01, + "entropy_coef": 0.002, + "symmetry_cfg": null, + "learning_rate": 0.001, + "max_grad_norm": 1, + "value_loss_coef": 1, + "num_mini_batches": 4, + "num_learning_epochs": 5, + "use_clipped_value_loss": true, + "normalize_advantage_per_mini_batch": false + }, + "class_name": "OnPolicyRunner", + "obs_groups": { + "critic": [ + "critic" + ], + "policy": [ + "policy" + ] + }, + "clip_actions": null, + "save_interval": 500, + "wandb_project": "dex-retarget", + "max_iterations": 5000, + "experiment_name": "wuji2_phone_capture_v2", + "load_checkpoint": "model_.*.pt", + "neptune_project": "dex-retarget", + "num_steps_per_env": 24, + "empirical_normalization": null + } +} diff --git a/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/config/context.json b/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/config/context.json new file mode 100644 index 0000000000000000000000000000000000000000..3155302ee6e5d83e92eafe27daebd2b217294c3a --- /dev/null +++ b/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/config/context.json @@ -0,0 +1,56 @@ +{ + "bundle": { + "path": "data/new_data_batch1/manifest.json", + "sha256": "8da5aa7baf9896af403997673f25ecb5539880eef4e4d23e63adb8beedc4a0bd" + }, + "capture_id": "marker_011", + "control_hz": 30.0, + "control_motion_steps": 216, + "geometry": { + "keypoints": { + "path": "data/new_data_batch1/objects/marker/keypoints.npy", + "sha256": "d275f0574698f9fecf86a420d2d6c49950bc5c750898dc103dde5f90c34ff86f" + }, + "properties": { + "path": "data/new_data_batch1/objects/marker/properties.json", + "sha256": "606f6e5d7efca3f4ef42f05a8173cb536ba389b3d473171388119e8c7793e2e5" + }, + "urdf": { + "path": "data/new_data_batch1/objects/marker/object.urdf", + "sha256": "779c966ec631d86688f17a205e2412a8ecf59202c7e96eaf8752a5a2f73d8fcf" + }, + "usd": { + "path": "data/new_data_batch1/objects/marker/object.usda", + "sha256": "23472b1831c9051fef037a4981c6108ef0ea626ef3c186889935486f19330dfb" + }, + "visual": { + "path": "data/new_data_batch1/objects/marker/visual.obj", + "sha256": "435a710afb84d4a3121f0389f60b1424fed93958cac07ce38d1e2e1317814203" + } + }, + "hold_steps": 15, + "human": { + "path": "data/new_data_batch1/cases/marker_011/human.h5", + "sha256": "ea496f9e9805c51cf640691c079250f33e8cb6a8ab233a8b6a8a23f8be67641d" + }, + "robot_usd": "third_party/wuji-description/hand2/hand2_beta1/body/usd/right/wujihand2.usd", + "schema": "dex_prepared_training_context_v1", + "source_frames": 432, + "source_hz": 60.0, + "terminal_bootstrap_protocol": "WUJI2-TerminalBootstrap-20261008-v1", + "training_only": true, + "trajectory": { + "path": "data/new_data_batch1/cases/marker_011/trajectory.h5", + "sha256": "d7852cea04bf31865a0bf233cce643656ab869e9865f3d7d35897e1b59b8efdb" + }, + "workspace_lower_m": [ + 0.045902509307201925, + 0.1990767601279049, + 0.22675348552858263 + ], + "workspace_upper_m": [ + 0.15030901492990373, + 0.3030541084096986, + 0.3603803370630856 + ] +} diff --git a/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/config/env.yaml b/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/config/env.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3ae24d019976997f887504fc220c5da0eab71600 --- /dev/null +++ b/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/config/env.yaml @@ -0,0 +1,1508 @@ +viewer: + eye: !!python/tuple + - 0.45 + - -0.45 + - 0.32 + lookat: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + cam_prim_path: /OmniverseKit_Persp + resolution: !!python/tuple + - 1280 + - 720 + origin_type: world + env_index: 0 + asset_name: null + body_name: null +sim: + physics_prim_path: /physicsScene + device: cuda:0 + dt: 0.008333333333333333 + render_interval: 4 + gravity: !!python/tuple + - 0.0 + - 0.0 + - -9.81 + enable_scene_query_support: false + use_fabric: true + physx: + solver_type: 1 + min_position_iteration_count: 1 + max_position_iteration_count: 192 + min_velocity_iteration_count: 0 + max_velocity_iteration_count: 1 + enable_ccd: false + enable_stabilization: false + enable_enhanced_determinism: false + bounce_threshold_velocity: 0.2 + friction_offset_threshold: 0.01 + friction_correlation_distance: 0.00625 + gpu_max_rigid_contact_count: 8388608 + gpu_max_rigid_patch_count: 8388608 + gpu_found_lost_pairs_capacity: 2097152 + gpu_found_lost_aggregate_pairs_capacity: 33554432 + gpu_total_aggregate_pairs_capacity: 2097152 + gpu_collision_stack_size: 268435456 + gpu_heap_capacity: 67108864 + gpu_temp_buffer_capacity: 16777216 + gpu_max_num_partitions: 1 + gpu_max_soft_body_contacts: 1048576 + gpu_max_particle_contacts: 1048576 + solve_articulation_contact_last: false + physics_material: + func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material + static_friction: 1.0 + dynamic_friction: 1.0 + restitution: 0.0 + friction_combine_mode: average + restitution_combine_mode: average + compliant_contact_stiffness: 0.0 + compliant_contact_damping: 0.0 + render: + enable_translucency: null + enable_reflections: null + enable_global_illumination: null + antialiasing_mode: null + enable_dlssg: null + enable_dl_denoiser: null + dlss_mode: null + enable_direct_lighting: null + samples_per_pixel: null + enable_shadows: null + enable_ambient_occlusion: null + dome_light_upper_lower_strategy: null + carb_settings: null + rendering_mode: null + create_stage_in_memory: false +ui_window_class_type: isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow +seed: 1 +decimation: 4 +scene: + num_envs: 1024 + env_spacing: 0.75 + lazy_sensor_update: true + replicate_physics: true + filter_collisions: true + clone_in_fabric: false + table: null + object: + class_type: isaaclab.assets.rigid_object.rigid_object:RigidObject + prim_path: /World/envs/env_.*/Object + spawn: + func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd + visible: true + semantic_tags: null + copy_from_source: true + mass_props: null + deformable_props: null + rigid_props: + rigid_body_enabled: null + kinematic_enabled: false + disable_gravity: false + linear_damping: null + angular_damping: null + max_linear_velocity: null + max_angular_velocity: null + max_depenetration_velocity: 5.0 + max_contact_impulse: null + enable_gyroscopic_forces: true + retain_accelerations: null + solver_position_iteration_count: 8 + solver_velocity_iteration_count: 0 + sleep_threshold: 0.005 + stabilization_threshold: 0.0025 + collision_props: null + activate_contact_sensors: true + scale: null + articulation_props: + articulation_enabled: false + enabled_self_collisions: null + solver_position_iteration_count: null + solver_velocity_iteration_count: null + sleep_threshold: null + stabilization_threshold: null + fix_root_link: null + fixed_tendons_props: null + spatial_tendons_props: null + joint_drive_props: null + visual_material_path: material + visual_material: null + usd_path: /data/dexr_b1/cur/data/new_data_batch1/objects/marker/object.usda + variants: null + init_state: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + lin_vel: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + ang_vel: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + collision_group: 0 + debug_vis: false + robot: + class_type: isaaclab.assets.articulation.articulation:Articulation + prim_path: /World/envs/env_.*/Robot + spawn: + func: regrind.robots.free_wuji_hand2_routea_v1:spawn_wuji2_routea_floating + visible: true + semantic_tags: null + copy_from_source: true + mass_props: null + deformable_props: null + rigid_props: + rigid_body_enabled: null + kinematic_enabled: null + disable_gravity: true + linear_damping: null + angular_damping: null + max_linear_velocity: null + max_angular_velocity: null + max_depenetration_velocity: 5.0 + max_contact_impulse: null + enable_gyroscopic_forces: null + retain_accelerations: null + solver_position_iteration_count: null + solver_velocity_iteration_count: null + sleep_threshold: null + stabilization_threshold: null + collision_props: + collision_enabled: null + contact_offset: 0.0015 + rest_offset: 0.0012 + torsional_patch_radius: null + min_torsional_patch_radius: null + activate_contact_sensors: true + scale: null + articulation_props: + articulation_enabled: null + enabled_self_collisions: true + solver_position_iteration_count: 32 + solver_velocity_iteration_count: 1 + sleep_threshold: 0.005 + stabilization_threshold: 0.0005 + fix_root_link: false + fixed_tendons_props: null + spatial_tendons_props: null + joint_drive_props: null + visual_material_path: material + visual_material: null + usd_path: /data/dexr_b1/cur/third_party/wuji-description/hand2/hand2_beta1/body/usd/right/wujihand2.usd + variants: null + init_state: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + lin_vel: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + ang_vel: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + joint_pos: + r_thumb_cmc_flex: 0.0 + r_thumb_cmc_abd: 0.0 + r_thumb_mcp: 0.0 + r_thumb_ip: 0.0 + r_index_finger_mcp_flex: 0.0 + r_index_finger_mcp_abd: 0.0 + r_index_finger_pip: 0.0 + r_index_finger_dip: 0.0 + r_middle_finger_mcp_flex: 0.0 + r_middle_finger_mcp_abd: 0.0 + r_middle_finger_pip: 0.0 + r_middle_finger_dip: 0.0 + r_ring_finger_mcp_flex: 0.0 + r_ring_finger_mcp_abd: 0.0 + r_ring_finger_pip: 0.0 + r_ring_finger_dip: 0.0 + r_pinky_mcp_flex: 0.0 + r_pinky_mcp_abd: 0.0 + r_pinky_pip: 0.0 + r_pinky_dip: 0.0 + joint_vel: + .*: 0.0 + collision_group: 0 + debug_vis: false + articulation_root_prim_path: /r_wrist + soft_joint_pos_limit_factor: 1.0 + actuators: + fingers: + class_type: isaaclab.actuators.actuator_pd:ImplicitActuator + joint_names_expr: + - r_thumb_cmc_flex + - r_thumb_cmc_abd + - r_thumb_mcp + - r_thumb_ip + - r_index_finger_mcp_flex + - r_index_finger_mcp_abd + - r_index_finger_pip + - r_index_finger_dip + - r_middle_finger_mcp_flex + - r_middle_finger_mcp_abd + - r_middle_finger_pip + - r_middle_finger_dip + - r_ring_finger_mcp_flex + - r_ring_finger_mcp_abd + - r_ring_finger_pip + - r_ring_finger_dip + - r_pinky_mcp_flex + - r_pinky_mcp_abd + - r_pinky_pip + - r_pinky_dip + effort_limit: null + velocity_limit: null + effort_limit_sim: null + velocity_limit_sim: null + stiffness: null + damping: null + armature: null + friction: null + dynamic_friction: null + viscous_friction: null + actuator_value_resolution_debug_print: false + light: + class_type: null + prim_path: /World/Light + spawn: + func: isaaclab.sim.spawners.lights.lights:spawn_light + visible: true + semantic_tags: null + copy_from_source: true + prim_type: DomeLight + color: !!python/tuple + - 0.75 + - 0.75 + - 0.75 + enable_color_temperature: false + color_temperature: 6500.0 + normalize: false + exposure: 0.0 + intensity: 2000.0 + texture_file: null + texture_format: automatic + visible_in_primary_ray: true + init_state: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + collision_group: 0 + debug_vis: false + contact_forces: + class_type: isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor + prim_path: /World/envs/env_.*/Robot/.* + update_period: 0.0 + history_length: 3 + debug_vis: true + track_pose: false + track_contact_points: false + max_contact_data_count_per_prim: 4 + track_air_time: true + force_threshold: 0.5 + filter_prim_paths_expr: [] + visualizer_cfg: + prim_path: /Visuals/ContactSensor + markers: + contact: + func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere + visible: true + semantic_tags: null + copy_from_source: true + mass_props: null + rigid_props: null + collision_props: null + activate_contact_sensors: false + visual_material_path: material + visual_material: + func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface + diffuse_color: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + emissive_color: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + roughness: 0.5 + metallic: 0.0 + opacity: 1.0 + physics_material_path: material + physics_material: null + radius: 0.02 + no_contact: + func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere + visible: false + semantic_tags: null + copy_from_source: true + mass_props: null + rigid_props: null + collision_props: null + activate_contact_sensors: false + visual_material_path: material + visual_material: + func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface + diffuse_color: !!python/tuple + - 0.0 + - 1.0 + - 0.0 + emissive_color: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + roughness: 0.5 + metallic: 0.0 + opacity: 1.0 + physics_material_path: material + physics_material: null + radius: 0.02 + tf_fingertips: + class_type: isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer + prim_path: /World/envs/env_.*/Robot/r_wrist + update_period: 0.0 + history_length: 0 + debug_vis: false + source_frame_offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + target_frames: + - prim_path: /World/envs/env_.*/Robot/r_thumb_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - prim_path: /World/envs/env_.*/Robot/r_index_finger_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - prim_path: /World/envs/env_.*/Robot/r_middle_finger_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - prim_path: /World/envs/env_.*/Robot/r_ring_finger_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - prim_path: /World/envs/env_.*/Robot/r_pinky_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + visualizer_cfg: + prim_path: /Visuals/SiteFrameTransformer_fingertips + markers: + frame: + func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd + visible: true + semantic_tags: null + copy_from_source: true + mass_props: null + deformable_props: null + rigid_props: null + collision_props: null + activate_contact_sensors: false + scale: !!python/tuple + - 0.05 + - 0.05 + - 0.05 + articulation_props: null + fixed_tendons_props: null + spatial_tendons_props: null + joint_drive_props: null + visual_material_path: material + visual_material: null + usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/UIElements/frame_prim.usd + variants: null + connecting_line: + func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder + visible: true + semantic_tags: null + copy_from_source: true + mass_props: null + rigid_props: null + collision_props: null + activate_contact_sensors: false + visual_material_path: material + visual_material: + func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface + diffuse_color: !!python/tuple + - 1.0 + - 1.0 + - 0.0 + emissive_color: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + roughness: 1.0 + metallic: 0.0 + opacity: 1.0 + physics_material_path: material + physics_material: null + radius: 0.002 + height: 1.0 + axis: Z +recorders: + dataset_file_handler_class_type: isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler + dataset_export_dir_path: /tmp/isaaclab/logs + dataset_filename: dataset + dataset_export_mode: + _value_: 1 + _name_: EXPORT_ALL + _sort_order_: 1 + export_in_record_pre_reset: true +observations: + policy: + concatenate_terms: true + concatenate_dim: -1 + enable_corruption: false + history_length: null + flatten_history_dim: true + object_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:object_pos + params: + command_name: motion + delay_key: object_pos + apply_noise: true + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + object_ori: + func: regrind.tasks.manager_based.dexterous.mdp.observations:object_ori + params: + command_name: motion + delay_key: object_quat + apply_noise: true + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + object_joint: null + hand_wrist_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_pos + params: + command_name: motion + delay_key: hand_wrist_pos + apply_noise: true + relative_to_default: false + modifiers: null + noise: null + clip: null + scale: null + history_length: 3 + flatten_history_dim: true + hand_wrist_rot6d: + func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_rot6d + params: + command_name: motion + delay_key: hand_wrist_quat + apply_noise: true + relative_to_default: false + modifiers: null + noise: null + clip: null + scale: null + history_length: 3 + flatten_history_dim: true + hand_joint_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_joint_pos + params: + command_name: motion + delay_key: hand_joint_pos + apply_noise: true + relative_to_default: true + modifiers: null + noise: null + clip: null + scale: null + history_length: 3 + flatten_history_dim: true + actions: + func: isaaclab.envs.mdp.observations:last_action + params: {} + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + command: + func: isaaclab.envs.mdp.observations:generated_commands + params: + command_name: motion + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + action_base_wrist_pos_and_rot6d: + func: regrind.tasks.manager_based.dexterous.mdp.observations:action_base_wrist_pos_and_rot6d + params: + action_term_name: root_pose + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + action_base_hand_joint_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:action_base_hand_joint_pos + params: + action_term_name: joint_pos + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + critic: + concatenate_terms: true + concatenate_dim: -1 + enable_corruption: false + history_length: null + flatten_history_dim: true + object_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:object_pos + params: + command_name: motion + apply_noise: true + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + object_ori: + func: regrind.tasks.manager_based.dexterous.mdp.observations:object_ori + params: + command_name: motion + apply_noise: true + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + object_joint: null + hand_wrist_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_pos + params: + command_name: motion + apply_noise: true + modifiers: null + noise: null + clip: null + scale: null + history_length: 3 + flatten_history_dim: true + hand_wrist_rot6d: + func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_rot6d + params: + command_name: motion + apply_noise: true + modifiers: null + noise: null + clip: null + scale: null + history_length: 3 + flatten_history_dim: true + hand_joint_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_joint_pos + params: + command_name: motion + apply_noise: true + modifiers: null + noise: null + clip: null + scale: null + history_length: 3 + flatten_history_dim: true + actions: + func: isaaclab.envs.mdp.observations:last_action + params: {} + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + command: + func: isaaclab.envs.mdp.observations:generated_commands + params: + command_name: motion + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + action_base_wrist_pos_and_rot6d: + func: regrind.tasks.manager_based.dexterous.mdp.observations:action_base_wrist_pos_and_rot6d + params: + action_term_name: root_pose + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + action_base_hand_joint_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:action_base_hand_joint_pos + params: + action_term_name: joint_pos + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + fingertips_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:fingertips_pos + params: + command_name: motion + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + hand_joint_vel: + func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_joint_vel + params: + command_name: motion + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + target_object_joint: null +actions: + root_pose: + class_type: regrind.tasks.manager_based.dexterous.mdp.actions:SE3ImpedanceActionTerm + asset_name: robot + debug_vis: false + clip: null + raw_clip: !!python/tuple + - -1.0 + - 1.0 + scale_pos: 0.03333333333333333 + scale_rot: 0.10666666666666667 + translation_delta_frame: world + rotation_delta_frame: world + max_target_pos_step: null + max_target_rot_step: null + kp_pos: 300.0 + kd_pos: 30.0 + kp_rot: 3.0 + kd_rot: 0.3 + base_action_source: motion_target + command_name: motion + body_name: r_wrist + joint_pos: + class_type: regrind.tasks.manager_based.dexterous.mdp.actions:ClippedRelativeJointPositionAction + asset_name: robot + debug_vis: false + clip: null + joint_names: + - r_thumb_cmc_flex + - r_thumb_cmc_abd + - r_thumb_mcp + - r_thumb_ip + - r_index_finger_mcp_flex + - r_index_finger_mcp_abd + - r_index_finger_pip + - r_index_finger_dip + - r_middle_finger_mcp_flex + - r_middle_finger_mcp_abd + - r_middle_finger_pip + - r_middle_finger_dip + - r_ring_finger_mcp_flex + - r_ring_finger_mcp_abd + - r_ring_finger_pip + - r_ring_finger_dip + - r_pinky_mcp_flex + - r_pinky_mcp_abd + - r_pinky_pip + - r_pinky_dip + scale: + .*: 0.10666666666666667 + offset: 0.0 + preserve_order: true + use_zero_offset: true + raw_clip: !!python/tuple + - -1.0 + - 1.0 + base_action_source: motion_target + command_name: motion + max_target_step: null +events: + object_com: null + object_scale: null + object_joint_friction: null + robot_physics_material: + func: isaaclab.envs.mdp.events:randomize_rigid_body_material + params: + asset_cfg: + name: robot + joint_names: null + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: .* + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + static_friction_range: !!python/tuple + - 0.7 + - 1.3 + dynamic_friction_range: !!python/tuple + - 0.7 + - 1.3 + restitution_range: !!python/tuple + - 0.0 + - 0.0 + num_buckets: 250 + make_consistent: true + mode: startup + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + robot_scale_mass: + func: isaaclab.envs.mdp.events:randomize_rigid_body_mass + params: + asset_cfg: + name: robot + joint_names: null + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: .* + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + mass_distribution_params: !!python/tuple + - 0.95 + - 1.05 + operation: scale + mode: startup + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + robot_joint_stiffness_and_damping: + func: isaaclab.envs.mdp.events:randomize_actuator_gains + params: + asset_cfg: + name: robot + joint_names: .* + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: null + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + stiffness_distribution_params: !!python/tuple + - 0.9 + - 1.1 + damping_distribution_params: !!python/tuple + - 0.9 + - 1.1 + operation: scale + distribution: log_uniform + mode: startup + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + init_zero_joint_default_pos: + func: regrind.envs.events:init_zero_joint_default_pos + params: + asset_cfg: + name: robot + joint_names: .* + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: null + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + mode: startup + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + robot_fingers_joint_pos_offset: + func: regrind.envs.events:randomize_joint_default_pos + params: + asset_cfg: + name: robot + joint_names: + - r_(thumb|index_finger|middle_finger|ring_finger)_.* + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: null + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + pos_distribution_params: !!python/tuple + - -0.025 + - 0.025 + operation: abs + action_term_name: joint_pos + mode: startup + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + robot_wrist_translation_joint_pos_offset: null + robot_wrist_rotation_joint_pos_offset: null + init_obs_delay_buffers: + func: regrind.envs.events:init_obs_delay_buffers + params: {} + mode: startup + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + table_physics_material: null + object_physics_material: + func: isaaclab.envs.mdp.events:randomize_rigid_body_material + params: + asset_cfg: + name: object + joint_names: null + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: .* + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + static_friction_range: !!python/tuple + - 0.5 + - 1.5 + dynamic_friction_range: !!python/tuple + - 0.5 + - 1.5 + restitution_range: !!python/tuple + - 0.0 + - 0.0 + num_buckets: 250 + make_consistent: true + mode: startup + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + object_scale_mass: + func: pipeline.isaac_task:bind_physics + params: + asset_cfg: + name: object + joint_names: null + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: null + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + randomize: true + mode: startup + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + observation_time_lag: + func: regrind.envs.events:randomize_observation_time_lag + params: + time_lag_ranges: + object_pos: !!python/tuple + - 0 + - 2 + object_quat: !!python/tuple + - 0 + - 2 + object_joint: !!python/tuple + - 0 + - 2 + hand_wrist_pos: !!python/tuple + - 0 + - 2 + hand_wrist_quat: !!python/tuple + - 0 + - 2 + hand_joint_pos: !!python/tuple + - 0 + - 2 + continuous_time_lag: true + mode: reset + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + curriculum_gravity: null + curriculum_random_push_robot: + func: regrind.envs.events:curriculum_random_push + params: + asset_cfg: + name: robot + joint_names: null + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: null + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + push_velocity_stages: + - - 0 + - x: + - -0.05 + - 0.05 + y: + - -0.05 + - 0.05 + z: + - -0.05 + - 0.05 + roll: + - -0.1 + - 0.1 + pitch: + - -0.1 + - 0.1 + yaw: + - -0.1 + - 0.1 + mode: interval + interval_range_s: !!python/tuple + - 1.0 + - 5.0 + is_global_time: false + min_step_count_between_reset: 0 + curriculum_random_push_object: + func: regrind.envs.events:curriculum_random_push + params: + asset_cfg: + name: object + joint_names: null + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: null + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + push_velocity_stages: + - - 0 + - x: + - -0.05 + - 0.05 + y: + - -0.05 + - 0.05 + z: + - -0.05 + - 0.05 + roll: + - -0.1 + - 0.1 + pitch: + - -0.1 + - 0.1 + yaw: + - -0.1 + - 0.1 + mode: interval + interval_range_s: !!python/tuple + - 1.0 + - 5.0 + is_global_time: false + min_step_count_between_reset: 0 +rerender_on_reset: false +wait_for_textures: true +xr: null +teleop_devices: + devices: {} +export_io_descriptors: false +io_descriptors_output_dir: null +log_dir: /data/dexr_b1/cur/outputs/b1_grav_cur_b1c-4/marker_011/fulldr/training +is_finite_horizon: false +episode_length_s: 7.2 +rewards: + object_keypoints_pos_error_exp: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:object_keypoints_pos_error_exp + params: + command_name: motion + std: 0.015 + shaping_func: exp + weight: 3.0 + object_lin_vel_error_exp: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:object_lin_vel_error_exp + params: + command_name: motion + std: 1.0 + shaping_func: exp + weight: 1.0 + object_ang_vel_error_exp: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:object_ang_vel_error_exp + params: + command_name: motion + std: 3.14 + shaping_func: exp + weight: 1.0 + hand_wrist_pos_error_exp: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:hand_wrist_pos_error_exp + params: + command_name: motion + std: 0.02 + shaping_func: exp + weight: 0.1 + hand_wrist_rot_error_exp: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:hand_wrist_rot_error_exp + params: + command_name: motion + std: 0.2 + shaping_func: exp + weight: 0.1 + action_l2_exp: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:action_l2_exp + params: + command_name: motion + std: 1.0 + weight: 0.5 + action_rate_l2_exp: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:action_rate_l2_exp + params: + command_name: motion + std: 0.5 + weight: 1.0 + action_out_of_bounds_exp: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:action_out_of_bounds_exp + params: + std: 1.0 + weight: 1.0 + early_terminated_penalty: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:is_early_terminated + params: {} + weight: -10.0 + fingertip_object_graph_error_exp: + func: regrind.tasks.manager_based.dexterous.mdp.episode1_rewards:fingertip_object_graph_error_exp + params: + command_name: motion + std: 0.03 + weight: 0.75 + functional_terminal_pose_exp: null + forbidden_root_phone_contact: null +terminations: + time_out: + func: isaaclab.envs.mdp.terminations:time_out + params: {} + time_out: true + demo_end_reached: + func: regrind.tasks.manager_based.dexterous.mdp.terminations:demo_end_reached + params: + command_name: motion + time_out: false + object_deviation: + func: regrind.tasks.manager_based.dexterous.mdp.terminations:object_deviation + params: + command_name: motion + threshold: 0.15 + time_out: false + object_out_of_bounds: + func: regrind.tasks.manager_based.dexterous.mdp.terminations:object_out_of_bounds + params: + command_name: motion + time_out: false + hand_far_from_object: + func: regrind.tasks.manager_based.dexterous.mdp.terminations:hand_far_from_object + params: + command_name: motion + threshold: 0.5 + time_out: false + hit_table: null +curriculum: {} +commands: + motion: + class_type: regrind.tasks.manager_based.dexterous.mdp.commands:MotionCommand + resampling_time_range: !!python/tuple + - 1000000000.0 + - 1000000000.0 + debug_vis: false + object_asset_name: object + robot_asset_name: robot + tf_asset_names: + - tf_fingertips + demo_path: /data/dexr_b1/cur/data/new_data_batch1/cases/marker_011/human.h5 + demo_dt: 0.016666666666666666 + retargeted_traj_path: /data/dexr_b1/cur/data/new_data_batch1/cases/marker_011/trajectory.h5 + required_robot_root_mode: free + source_frame_count: null + consumer_window_start_inclusive: null + consumer_window_end_exclusive: null + required_frame_indexed_datasets: !!python/tuple [] + terminal_hold_steps: 0 + reference_steps: 216 + augmentation_traj_dir: null + keypoint_paths: + bottom: /data/dexr_b1/cur/data/new_data_batch1/objects/marker/keypoints.npy + keypoint_body_prim_paths: + bottom: '{ENV_REGEX_NS}/Object/bottom' + keypoint_scale: 1.0 + object_joint_axis: null + actuated_joint_names: + - r_thumb_cmc_flex + - r_thumb_cmc_abd + - r_thumb_mcp + - r_thumb_ip + - r_index_finger_mcp_flex + - r_index_finger_mcp_abd + - r_index_finger_pip + - r_index_finger_dip + - r_middle_finger_mcp_flex + - r_middle_finger_mcp_abd + - r_middle_finger_pip + - r_middle_finger_dip + - r_ring_finger_mcp_flex + - r_ring_finger_mcp_abd + - r_ring_finger_pip + - r_ring_finger_dip + - r_pinky_mcp_flex + - r_pinky_mcp_abd + - r_pinky_pip + - r_pinky_dip + fingertip_keypoint_indices: !!python/tuple + - 4 + - 8 + - 12 + - 16 + - 20 + fingertip_frame_names: !!python/tuple + - r_thumb_tip + - r_index_finger_tip + - r_middle_finger_tip + - r_ring_finger_tip + - r_pinky_tip + enable_reset_perturbation: true + traj_aug_enabled: false + traj_aug_translation_lower_bound: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + traj_aug_translation_upper_bound: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + traj_aug_yaw_range: !!python/tuple + - 0.0 + - 0.0 + traj_aug_start: 0.0 + traj_aug_use: 1.0 + traj_aug_apply_to_hand: true + rand_wrist_pos_range: !!python/tuple + - -0.005 + - 0.005 + rand_wrist_rot_range: !!python/tuple + - -0.05 + - 0.05 + rand_finger_joint_pos_range: !!python/tuple + - -0.05 + - 0.05 + rand_object_pos_range: !!python/tuple + - -0.005 + - 0.005 + rand_object_rot_range: !!python/tuple + - -0.05 + - 0.05 + rand_object_joint_range: !!python/tuple + - -0.05 + - 0.05 + adaptive_kernel_size: 1 + adaptive_lambda: 0.8 + adaptive_uniform_ratio: 0.1 + adaptive_alpha: 0.001 + adaptive_sampling_enabled: false + rsi_enabled: true + debug_vis_marker_scale: 0.5 + debug_vis_keypoints: false + debug_vis_contact_force_arrows: false + contact_force_arrow_scale: 0.0005 + contact_force_arrow_min_length: 0.008 + contact_force_arrow_max_length: 0.12 + object_pos_lower_bound: !!python/tuple + - 0.045902509307201925 + - 0.1990767601279049 + - 0.22675348552858263 + object_pos_upper_bound: !!python/tuple + - 0.15030901492990373 + - 0.3030541084096986 + - 0.3603803370630856 + shared_translation_range: !!python/tuple + - -0.03 + - 0.03 + shared_rotation_range_rad: !!python/tuple + - -0.2617993877991494 + - 0.2617993877991494 + finger_joint_perturbation_range_rad: !!python/tuple + - -0.025 + - 0.025 +obs_max_lags: + object_pos: 2 + object_quat: 2 + object_joint: 2 + hand_wrist_pos: 2 + hand_wrist_quat: 2 + hand_joint_pos: 2 +tf_source_prim_path: '{ENV_REGEX_NS}/Robot/r_wrist' +tf_target_frames: + fingertips: + - prim_path: /World/envs/env_.*/Robot/r_thumb_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - prim_path: /World/envs/env_.*/Robot/r_index_finger_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - prim_path: /World/envs/env_.*/Robot/r_middle_finger_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - prim_path: /World/envs/env_.*/Robot/r_ring_finger_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - prim_path: /World/envs/env_.*/Robot/r_pinky_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 +enable_contact_sensor: true +include_contact_forces_in_critic_obs: false diff --git a/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/config/requirements.txt b/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/config/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..820c582855e6de22f5b1a4fc482340de6d48e430 --- /dev/null +++ b/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/config/requirements.txt @@ -0,0 +1,230 @@ +isaaclab==0.47.2 +isaaclab_assets==0.2.3 +isaaclab_tasks==0.11.6 +isaaclab_rl==0.4.4 +isaacsim-benchmark==5.1.0.0 +isaacsim-example==5.1.0.0 +torchvision==0.22.0 +onnx-ir==1.0.0 +pytransform3d==3.17.0 +tensordict==0.13.0 +portalocker==2.7.0 +Rtree==1.3.0 +nvidia-cusparselt-cu12==0.6.3 +isaacsim-storage==5.1.0.0 +nvidia-cuda-nvrtc-cu12==12.6.77 +wrapt==1.16.0 +osqp==0.6.7.post3 +proglog==0.1.12 +awscrt==0.23.8 +isaacsim-template==5.1.0.0 +isaacsim-extscache-kit-sdk==5.1.0.0 +tqdm==4.70.1 +packaging==23.0 +typing_extensions==4.12.2 +toml==0.10.2 +PyJWT==2.15.1 +psutil==5.9.8 +pluggy==1.6.0 +s3transfer==0.13.1 +gitdb==4.0.12 +charset-normalizer==3.3.2 +isaacsim-test==5.1.0.0 +omegaconf==2.3.1 +aiofiles==23.2.1 +uvicorn==0.29.0 +antlr4-python3-runtime==4.9.3 +gymnasium==1.2.0 +Markdown==3.11 +h5py==3.16.0 +aiohttp==3.11.11 +torchaudio==2.7.0 +certifi==2026.7.22 +filelock==3.13.1 +azure-storage-blob==12.17.0 +isaaclab_tasks==0.11.6 +httptools==0.6.1 +imageio-ffmpeg==0.6.0 +propcache==0.2.1 +yarl==1.18.3 +asteval==1.0.6 +azure-core==1.28.0 +azure-identity==1.13.0 +sympy==1.13.3 +rsl-rl-lib==3.0.1 +qpsolvers==4.13.0 +huggingface_hub==0.36.2 +GitPython==3.2.0 +Pygments==2.21.0 +protobuf==7.36.2 +nvidia-cudnn-cu12==9.5.1.17 +iniconfig==2.3.1 +isaaclab_assets==0.2.3 +loop-rate-limiters==1.2.0 +pin==2.7.0 +hydra-core==1.3.4 +nest-asyncio==1.5.6 +hpp-fcl==2.4.4 +starlette==0.45.3 +einops==0.8.2 +watchdog==4.0.0 +llvmlite==0.42.0 +nvidia-cusolver-cu12==11.7.1.2 +nvidia-nvtx-cu12==12.6.77 +nvidia-cuda-cupti-cu12==12.6.80 +fastapi==0.115.7 +eigenpy==3.5.1 +matplotlib==3.10.3 +idna-ssl==1.1.0 +sentry-sdk==2.29.1 +annotated-types==0.8.0 +isaacsim-robot-setup==5.1.0.0 +oauthlib==3.2.2 +safetensors==0.8.0 +jmespath==1.0.1 +pip==25.3 +isaacsim==5.1.0.0 +kiwisolver==1.4.4 +isaacsim-extscache-kit==5.1.0.0 +requests-oauthlib==1.3.1 +aiobotocore==2.24.0 +lxml==6.1.3 +aioitertools==0.11.0 +urllib3==2.8.0 +pycares==4.8.0 +pytest-mock==3.16.0 +torch==2.7.0 +isaacsim-cortex==5.1.0.0 +importlib_metadata==9.0.1 +tensorboard-data-server==0.7.2 +isaacsim-robot-motion==5.1.0.0 +click==8.5.0 +dex_retargeting==0.4.6 +isaacsim-core==5.1.0.0 +anytree==2.13.0 +Farama-Notifications==0.0.6 +transformers==4.56.2 +isaacsim-robot==5.1.0.0 +isaacsim-rl==5.1.0.0 +fsspec==2024.6.1 +cmeel-qhull==8.0.2.1 +cmeel-console-bridge==1.0.2.3 +hf-xet==1.7.0 +prettytable==3.3.0 +coverage==7.4.4 +multidict==6.1.0 +gunicorn==23.0.0 +Werkzeug==3.1.9 +onnx==1.18.0 +cmeel-octomap==1.10.0 +tensorboard==2.21.0 +Mosek==11.1.2 +typing-inspection==0.4.2 +isaacsim-code-editor==5.1.0.0 +nvidia-cufft-cu12==11.3.0.4 +wcwidth==0.9.2 +cycler==0.11.0 +contourpy==1.3.1 +aiohappyeyeballs==2.4.4 +numpy==1.26.0 +regex==2026.9.29 +idna==3.10 +nvidia-cufile-cu12==1.11.1.6 +PyYAML==6.0.2 +decorator==5.3.1 +cmeel-assimp==5.4.3.1 +drake==1.51.1 +aioboto3==15.1.0 +cloudpickle==3.1.2 +isaacsim-kernel==5.1.0.0 +mpmath==1.3.0 +aiosignal==1.3.2 +pin-pink==3.1.0 +smmap==5.0.3 +fonttools==4.55.3 +isaaclab==0.47.2 +numba==0.59.1 +wandb==0.28.1 +pycparser==3.11 +isaacsim-sensor==5.1.0.0 +pyperclip==1.8.0 +anyio==4.14.2 +Jinja2==3.1.6 +isaaclab_rl==0.4.4 +nvidia-nvjitlink-cu12==12.6.85 +ml_dtypes==0.5.4 +opencv-python-headless==4.11.0.86 +tokenizers==0.22.2 +pypng==0.20220715.0 +flaky==3.8.1 +cmeel-urdfdom==3.1.1.1 +imageio==2.37.0 +python-multipart==0.0.20 +pyglet==1.5.31 +cmeel-tinyxml==2.6.2.3 +websockets==12.0 +botocore==1.39.11 +cmeel==0.61.0 +setuptools==80.9.0 +triton==3.3.0 +h11==0.16.0 +orjson==3.13.0 +msal-extensions==1.0.0 +platformdirs==4.12.4 +cffi==2.1.1 +quadprog==0.1.13 +requests==2.32.3 +networkx==3.3 +isaacsim-app==5.1.0.0 +python-dotenv==1.2.4 +zipp==4.1.1 +qrcode==7.4.2 +nvidia-nccl-cu12==2.26.2 +wheel==0.45.1 +isaacsim-replicator==5.1.0.0 +pyparsing==3.0.9 +isaacsim-ros1==5.1.0.0 +hidapi==0.14.0.post2 +trimesh==4.5.1 +isaacsim-ros2==5.1.0.0 +flatdict==4.0.1 +pydantic==2.11.10 +six==1.17.0 +pydot==3.0.4 +pillow==11.3.0 +isaacsim-extscache-physics==5.1.0.0 +isaacsim-utils==5.1.0.0 +msal==1.27.0 +qdldl==0.1.7.post5 +onnxscript==0.7.1 +python-dateutil==2.9.0.post0 +nvidia-cusparse-cu12==12.5.4.2 +Pint==0.20.1 +pydantic_core==2.33.2 +cmeel-zlib==1.3.2 +cmeel-boost==1.83.0 +grpcio==1.84.0 +attrs==25.1.0 +moviepy==2.2.1 +warp-lang==1.15.0 +nlopt==2.7.1 +nvidia-cublas-cu12==12.6.4.1 +absl-py==2.5.1 +isaacsim-asset==5.1.0.0 +cryptography==44.0.0 +scipy==1.15.3 +isaacsim-gui==5.1.0.0 +nvidia-curand-cu12==10.3.7.77 +pytz==2024.1 +frozenlist==1.5.0 +opencv-python==4.11.0.86 +tornado==6.5.1 +junitparser==5.0.3 +pyvers==0.2.3 +async-timeout==5.0.1 +isodate==0.6.1 +boto3==1.39.11 +aiodns==3.1.1 +pytest==9.1.1 +MarkupSafe==2.1.3 +nvidia-cuda-runtime-cu12==12.6.77 diff --git a/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/config/resume_metadata.json b/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/config/resume_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..ecb845913a438ce9fae06709c9d5425880aa817d --- /dev/null +++ b/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/config/resume_metadata.json @@ -0,0 +1,11 @@ +{ + "model_state_loaded": true, + "optimizer_learning_rates_after_load": [ + 1e-05 + ], + "optimizer_state_entry_count_after_load": 21, + "optimizer_state_loaded": true, + "resume_checkpoint_sha256": "8a55d9d7f8ad684c05888468dd74a303f4fb9a47dcec1158ffef26690c53f82e", + "resume_path": "/data/dexr_b1/cur/outputs/b1_grav_cur_b1c-4/marker_011/teacher/training/model_4999.pt", + "source_learning_iteration": 4999 +} diff --git a/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/dependencies.json b/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/dependencies.json new file mode 100644 index 0000000000000000000000000000000000000000..89def0756edc355ce9706b07ce214afdd9b7ea0d --- /dev/null +++ b/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/dependencies.json @@ -0,0 +1,99 @@ +{ + "status": "INCOMPLETE_FOR_EVALUATION", + "evaluation_ready": false, + "scope": "Checkpoint and configurations only; matching training inputs are not bundled", + "dependencies": [ + { + "role": "human_h5", + "training_source_path": "data/new_data_batch1/cases/marker_011/human.h5", + "expected_sha256": 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remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence", + "hf_matches": [] + }, + { + "role": "keypoints", + "training_source_path": "data/new_data_batch1/objects/marker/keypoints.npy", + "expected_sha256": "d275f0574698f9fecf86a420d2d6c49950bc5c750898dc103dde5f90c34ff86f", + "availability": "EXACT_HASH_EXISTS_IN_PREVIOUS_HF_REVISION", + "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence", + "hf_matches": [ + { + "repo_id": "FlappyHimself/reorientation-artifacts", + "revision": "7e6bef8f22540f90732f8053ccf578a44b367725", + "path": "provenance/selected15-20261008-v1/assets/profiles/marker/sharpa_profile/assets/surface_surface_keypoints.npy" + }, + { + "repo_id": "FlappyHimself/reorientation-artifacts", + "revision": "7e6bef8f22540f90732f8053ccf578a44b367725", + "path": "provenance/selected15-20261008-v1/assets/profiles/marker/surface_keypoints.npy" + } + ] + }, + { + "role": "properties", + "training_source_path": "data/new_data_batch1/objects/marker/properties.json", + "expected_sha256": "606f6e5d7efca3f4ef42f05a8173cb536ba389b3d473171388119e8c7793e2e5", + "availability": "UNRESOLVED_NOT_BUNDLED", + "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence", + "hf_matches": [] + }, + { + "role": "urdf", + "training_source_path": "data/new_data_batch1/objects/marker/object.urdf", + "expected_sha256": "779c966ec631d86688f17a205e2412a8ecf59202c7e96eaf8752a5a2f73d8fcf", + "availability": "UNRESOLVED_NOT_BUNDLED", + "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence", + "hf_matches": [] + }, + { + "role": "usd", + "training_source_path": 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Resolve and hash-check every exact dependency before evaluation; do not substitute the existing same-ID Stage2 release." +} diff --git a/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/manifest.json b/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..a361716546da73caf23ebf5e8ac6a86ed2f09d2c --- /dev/null +++ b/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/manifest.json @@ -0,0 +1,121 @@ +{ + "schema": "reorientation_wuji2_stage3_checkpoint_archive_v1", + "archive_release": "fulldr-reward-selected4-20261011-v1", + "take": "marker_011", + "object": "marker", + "embodiment": "wuji2", + "phase": "fulldr", + "run_id": "i277x4dj", + "status": "CHECKPOINT_ARCHIVED_DEPENDENCIES_INCOMPLETE", + "evaluation_ready": false, + "checkpoint": { + "path": "objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/checkpoints/model_9998.pt", + "sha256": "27cd8d79b2458ac6a1e3cb7d7f62e9d0eeb5cbdc4fa04b9c989e3de163e8e56c", + "bytes": 20801589 + }, + "reward_selection": { + "path": "objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/source/reward_selection.json", + "sha256": "2186f235d6118189e9132484b995252ea0d24af75f95794fb536f8dd66d511ec", + "bytes": 431 + }, + "dependency_report": { + "path": "objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/dependencies.json", + "sha256": "122a53fdbd89c7c76ac77571f1bdfd06ba3b5751504b650709cab3f49d3646bb", + "bytes": 5299 + }, + "provenance": { + "source": { + "entity": "dfnet", + "project": "dex-retarget", + "run_id": "i277x4dj", + "run_name": "marker_011/fulldr/outputs/b1_grav_cur_b1c-4/marker_011/fulldr", + "url": "https://wandb.ai/dfnet/dex-retarget/runs/i277x4dj", + "state": "finished" + }, + "code_commit": "d4d481eddf00872b287e3cff4334fcd12869e71d", + "phase": "FullDR", + "completed_stage_budget_from_source": { + "configured_additional_updates": 5000, + "resumed_learning_iteration": 4999, + "final_checkpoint_iteration": 9998, + "selection": "final optimizer update; not evaluation-selected" + }, + "parent_nominal_checkpoint": { + "source_path": "/data/dexr_b1/cur/outputs/b1_grav_cur_b1c-4/marker_011/teacher/training/model_4999.pt", + "sha256": "8a55d9d7f8ad684c05888468dd74a303f4fb9a47dcec1158ffef26690c53f82e", + "model_state_loaded": true, + "optimizer_state_loaded": true + }, + "normalization": "Observation normalizer state is carried in the source checkpoint; checkpoint bytes preserved. 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No deserialization or simulation performed in this archive.", + "claims": { + "reward_selected": true, + "independent_evaluation": "NOT_PROVIDED", + "rollout_videos": "NOT_PROVIDED", + "new_evaluation_run": false, + "training_input_equivalence_to_existing_hf_stage2": false + } +} diff --git a/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/source/reward_selection.json b/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/source/reward_selection.json new file mode 100644 index 0000000000000000000000000000000000000000..8b1367dd3c7b556607b942301a3971004113b729 --- /dev/null +++ b/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/source/reward_selection.json @@ -0,0 +1,12 @@ +{ + "metric": "Episode_Reward/object_keypoints_pos_error_exp", + "operator": ">", + "threshold": 1.0, + "observed_step": 9998, + "observed_value": 1.0041738748550415, + "rule": "Final checkpoint at the exact logged step, not historical maximum or smoothed reward", + "run_id": "i277x4dj", + "wandb_url": "https://wandb.ai/dfnet/dex-retarget/runs/i277x4dj", + "read_at": 1791753859.8814673, + "evaluation_success_inferred": false +} diff --git a/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/source/wandb_receipt.json b/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/source/wandb_receipt.json new file mode 100644 index 0000000000000000000000000000000000000000..10fa3425f0438e8cfa61dcde1294619e24451498 --- /dev/null +++ b/objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/source/wandb_receipt.json @@ -0,0 +1,13 @@ +{ + "checkpoint": { + "path": "outputs/b1_grav_cur_b1c-4/marker_011/fulldr/training/model_9998.pt", + "sha256": "27cd8d79b2458ac6a1e3cb7d7f62e9d0eeb5cbdc4fa04b9c989e3de163e8e56c" + }, + "contents": "model (including observation normalizers), optimizer, iteration and audited stage progress", + "mode": "online", + "run_id": "i277x4dj", + "run_url": "https://wandb.ai/dfnet/dex-retarget/runs/i277x4dj", + "schema": "dex_wandb_checkpoint_v1", + "selection": "final optimizer update; not evaluation-selected", + "wandb_file": "model_9998.pt" +} diff --git a/objects/marker/trajectories/marker_011/wuji2/stage3/index.json b/objects/marker/trajectories/marker_011/wuji2/stage3/index.json new file mode 100644 index 0000000000000000000000000000000000000000..e9df20f7493af49a6f433b2002b85af130359932 --- /dev/null +++ b/objects/marker/trajectories/marker_011/wuji2/stage3/index.json @@ -0,0 +1,18 @@ +{ + "schema": "reorientation_stage3_archive_index_v1", + "take": "marker_011", + "embodiment": "wuji2", + "runs": [ + { + "run_id": "i277x4dj", + "manifest": { + "path": "objects/marker/trajectories/marker_011/wuji2/stage3/i277x4dj/manifest.json", + "sha256": "341d016fb73443285b52a10e8c9f02befbd7096fc98982f96530b18b27699ecd", + "bytes": 5060 + }, + "status": "CHECKPOINT_ARCHIVED_DEPENDENCIES_INCOMPLETE", + "evaluation_ready": false + } + ], + "scope": "Additional Stage3 archives; original Stage1/Stage2 trajectory manifest remains unchanged" +} diff --git a/objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/README.md b/objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/README.md new file mode 100644 index 0000000000000000000000000000000000000000..6829157081ebc046d75f45f42a35af20a84d7321 --- /dev/null +++ b/objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/README.md @@ -0,0 +1,22 @@ +# scissors_new_006 / WUJI2 FullDR / 58i6zoqd + +**CHECKPOINT_ARCHIVED — INCOMPLETE_FOR_EVALUATION** + +Final model: `checkpoints/model_9998.pt`. Source [W&B run](https://wandb.ai/dfnet/dex-retarget/runs/58i6zoqd). +Source FullDR stage:5000 additional PPO updates, resumed iteration4999, +final saved iteration9998. This is the final model, not a best-reward checkpoint. +Selection: `Episode_Reward/object_keypoints_pos_error_exp` at logged step9998 = **1.07047105 > 1**. +Reward selection is not an evaluation pass. + +Checkpoint SHA256: `789e3b6a6ccd4e573799b4a39b03f8729040e4a7bf0dc56bf56309810d844f7e`. +The uploaded file is unchanged and includes the original serialized policy state. +Exact source configurations, context, resume record and receipt accompany it. + +## Missing evaluation inputs + +The actual training retarget H5 has SHA256 `2dd7fb9f92fd84abd8a83c639c882f0a4aed2d15dbcaf3ca50bcb2eac48b3a76`. +The existing same-trajectory HF Stage2 H5 has SHA256 `1e05269832ff56d8b809d2f034851979dc7b0dcd25bc79526c6b87c7bbed3df0`. +**They are different artifacts. Do not silently substitute the existing Stage2.** +See [dependencies](dependencies.json) for exact human/retarget H5, geometry, +source bundle and robot requirements. Historical paths are source provenance only. +This release does not include newly run evaluation,32-seed metrics or rollout videos. diff --git a/objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/checkpoints/model_9998.pt b/objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/checkpoints/model_9998.pt new file mode 100644 index 0000000000000000000000000000000000000000..8bf92dc55df3dd53df7f8b384bc966174e06620f --- /dev/null +++ b/objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/checkpoints/model_9998.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:789e3b6a6ccd4e573799b4a39b03f8729040e4a7bf0dc56bf56309810d844f7e +size 20801589 diff --git a/objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/config/agent.yaml b/objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/config/agent.yaml new file mode 100644 index 0000000000000000000000000000000000000000..33560ca84cdb80362c9c9d7fcd3505087b617561 --- /dev/null +++ b/objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/config/agent.yaml @@ -0,0 +1,52 @@ +seed: 1 +device: cuda:0 +num_steps_per_env: 24 +max_iterations: 5000 +empirical_normalization: null +obs_groups: {} +clip_actions: null +save_interval: 500 +experiment_name: wuji2_phone_capture_v2 +run_name: fulldr +logger: wandb +neptune_project: dex-retarget +wandb_project: dex-retarget +resume: true +load_run: .* +load_checkpoint: model_.*.pt +class_name: OnPolicyRunner +policy: + class_name: CustomActorCritic + init_noise_std: 0.5 + noise_std_type: scalar + actor_obs_normalization: true + critic_obs_normalization: true + actor_hidden_dims: + - 1024 + - 512 + - 256 + - 128 + critic_hidden_dims: + - 1024 + - 512 + - 256 + - 128 + activation: elu + zero_init_actor_last_layer: true +algorithm: + class_name: PPO + num_learning_epochs: 5 + num_mini_batches: 4 + learning_rate: 0.001 + schedule: adaptive + gamma: 0.998 + lam: 0.95 + entropy_coef: 0.002 + desired_kl: 0.01 + max_grad_norm: 1.0 + value_loss_coef: 1.0 + use_clipped_value_loss: true + clip_param: 0.2 + normalize_advantage_per_mini_batch: false + rnd_cfg: null + symmetry_cfg: null diff --git a/objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/config/config.json b/objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/config/config.json new file mode 100644 index 0000000000000000000000000000000000000000..40ee1c855030c53a37fce85ec290f5f0fdb44853 --- /dev/null +++ b/objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/config/config.json @@ -0,0 +1,1934 @@ +{ + "alg_cfg": { + "lam": 0.95, + "gamma": 0.998, + "rnd_cfg": null, + "schedule": "adaptive", + "clip_param": 0.2, + "desired_kl": 0.01, + "entropy_coef": 0.002, + "symmetry_cfg": null, + "learning_rate": 0.001, + "max_grad_norm": 1, + "value_loss_coef": 1, + "num_mini_batches": 4, + "num_learning_epochs": 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"tf_source_prim_path": "{ENV_REGEX_NS}/Robot/r_wrist", + "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", + "enable_contact_sensor": true, + "export_io_descriptors": false, + "io_descriptors_output_dir": null, + "include_contact_forces_in_critic_obs": false + }, + "log_dir": "/data/dexr_b1/cur/outputs/b1_grav_cur_b1c-2/scissors_new_006/fulldr/training", + "policy_cfg": { + "activation": "elu", + "init_noise_std": 0.5, + "noise_std_type": "scalar", + "actor_hidden_dims": [ + 1024, + 512, + 256, + 128 + ], + "critic_hidden_dims": [ + 1024, + 512, + 256, + 128 + ], + "actor_obs_normalization": true, + "critic_obs_normalization": true, + "zero_init_actor_last_layer": true + }, + "runner_cfg": { + "seed": 1, + "device": "cuda:0", + "logger": "wandb", + "policy": { + "activation": "elu", + "init_noise_std": 0.5, + "noise_std_type": "scalar", + "actor_hidden_dims": [ + 1024, + 512, + 256, + 128 + ], + "critic_hidden_dims": [ + 1024, + 512, + 256, + 128 + ], + "actor_obs_normalization": true, + "critic_obs_normalization": true, + "zero_init_actor_last_layer": true + }, + "resume": true, + "load_run": ".*", + "run_name": "fulldr", + "algorithm": { + "lam": 0.95, + "gamma": 0.998, + "rnd_cfg": null, + "schedule": "adaptive", + "clip_param": 0.2, + "desired_kl": 0.01, + "entropy_coef": 0.002, + "symmetry_cfg": null, + "learning_rate": 0.001, + "max_grad_norm": 1, + "value_loss_coef": 1, + "num_mini_batches": 4, + "num_learning_epochs": 5, + "use_clipped_value_loss": true, + "normalize_advantage_per_mini_batch": false + }, + "class_name": "OnPolicyRunner", + "obs_groups": { + "critic": [ + "critic" + ], + "policy": [ + "policy" + ] + }, + "clip_actions": null, + "save_interval": 500, + "wandb_project": "dex-retarget", + "max_iterations": 5000, + "experiment_name": "wuji2_phone_capture_v2", + "load_checkpoint": "model_.*.pt", + "neptune_project": "dex-retarget", + "num_steps_per_env": 24, + "empirical_normalization": null + } +} diff --git a/objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/config/context.json b/objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/config/context.json new file mode 100644 index 0000000000000000000000000000000000000000..76cbfcb141f32eeb4c27e69ccc3a395ef50472f8 --- /dev/null +++ b/objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/config/context.json @@ -0,0 +1,56 @@ +{ + "bundle": { + "path": "data/new_data_batch1/manifest.json", + "sha256": "8da5aa7baf9896af403997673f25ecb5539880eef4e4d23e63adb8beedc4a0bd" + }, + "capture_id": "scissors_new_006", + "control_hz": 30.0, + "control_motion_steps": 533, + "geometry": { + "keypoints": { + "path": "data/new_data_batch1/objects/scissors/keypoints.npy", + "sha256": "c0145e274ecd78d8d15f1755131dbc0241bfe02a2c76a5e4d247bf10c6aa917a" + }, + "properties": { + "path": "data/new_data_batch1/objects/scissors/properties.json", + "sha256": "8f97149180c01a737247bee6ba27fffa469c454768cc987e751e2881047a48d1" + }, + "urdf": { + "path": "data/new_data_batch1/objects/scissors/object.urdf", + "sha256": "0c7908d8fe4357747a35d814dfa0efc9b2c7de1df43a6cdd7d0bba95dfef1c48" + }, + "usd": { + "path": "data/new_data_batch1/objects/scissors/object.usda", + "sha256": "081dbe9a53f09594aba09565f71d8bcff8bb4cc8f58776bddafa9223f38dc0b3" + }, + "visual": { + "path": "data/new_data_batch1/objects/scissors/visual.obj", + "sha256": "ced9ab7c6dc1aa87058204d3e6a969b48ec12405fa60b3915ef79b74ab0b0809" + } + }, + "hold_steps": 15, + "human": { + "path": "data/new_data_batch1/cases/scissors_new_006/human.h5", + "sha256": "cd6a1ab1037ce886fbe0e4952d6a74f49a4ba0a3ff9dff4211fe9bff5e11ef93" + }, + "robot_usd": "third_party/wuji-description/hand2/hand2_beta1/body/usd/right/wujihand2.usd", + "schema": "dex_prepared_training_context_v1", + "source_frames": 1066, + "source_hz": 60.0, + "terminal_bootstrap_protocol": "WUJI2-TerminalBootstrap-20261008-v1", + "training_only": true, + "trajectory": { + "path": "data/new_data_batch1/cases/scissors_new_006/trajectory.h5", + "sha256": "2dd7fb9f92fd84abd8a83c639c882f0a4aed2d15dbcaf3ca50bcb2eac48b3a76" + }, + "workspace_lower_m": [ + 0.10613337684920437, + 0.261845569644909, + 0.1483022886894307 + ], + "workspace_upper_m": [ + 0.21412462348185085, + 0.4201734001835129, + 0.31234000989960164 + ] +} diff --git a/objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/config/env.yaml b/objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/config/env.yaml new file mode 100644 index 0000000000000000000000000000000000000000..42d4463156ab956238486c1aecc5f9b697fa7e72 --- /dev/null +++ b/objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/config/env.yaml @@ -0,0 +1,1508 @@ +viewer: + eye: !!python/tuple + - 0.45 + - -0.45 + - 0.32 + lookat: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + cam_prim_path: /OmniverseKit_Persp + resolution: !!python/tuple + - 1280 + - 720 + origin_type: world + env_index: 0 + asset_name: null + body_name: null +sim: + physics_prim_path: /physicsScene + device: cuda:0 + dt: 0.008333333333333333 + render_interval: 4 + gravity: !!python/tuple + - 0.0 + - 0.0 + - -9.81 + enable_scene_query_support: false + use_fabric: true + physx: + solver_type: 1 + min_position_iteration_count: 1 + max_position_iteration_count: 192 + min_velocity_iteration_count: 0 + max_velocity_iteration_count: 1 + enable_ccd: false + enable_stabilization: false + enable_enhanced_determinism: false + bounce_threshold_velocity: 0.2 + friction_offset_threshold: 0.01 + friction_correlation_distance: 0.00625 + gpu_max_rigid_contact_count: 8388608 + gpu_max_rigid_patch_count: 8388608 + gpu_found_lost_pairs_capacity: 2097152 + gpu_found_lost_aggregate_pairs_capacity: 33554432 + gpu_total_aggregate_pairs_capacity: 2097152 + gpu_collision_stack_size: 268435456 + gpu_heap_capacity: 67108864 + gpu_temp_buffer_capacity: 16777216 + gpu_max_num_partitions: 1 + gpu_max_soft_body_contacts: 1048576 + gpu_max_particle_contacts: 1048576 + solve_articulation_contact_last: false + physics_material: + func: isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material + static_friction: 1.0 + dynamic_friction: 1.0 + restitution: 0.0 + friction_combine_mode: average + restitution_combine_mode: average + compliant_contact_stiffness: 0.0 + compliant_contact_damping: 0.0 + render: + enable_translucency: null + enable_reflections: null + enable_global_illumination: null + antialiasing_mode: null + enable_dlssg: null + enable_dl_denoiser: null + dlss_mode: null + enable_direct_lighting: null + samples_per_pixel: null + enable_shadows: null + enable_ambient_occlusion: null + dome_light_upper_lower_strategy: null + carb_settings: null + rendering_mode: null + create_stage_in_memory: false +ui_window_class_type: isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow +seed: 1 +decimation: 4 +scene: + num_envs: 1024 + env_spacing: 0.75 + lazy_sensor_update: true + replicate_physics: true + filter_collisions: true + clone_in_fabric: false + table: null + object: + class_type: isaaclab.assets.rigid_object.rigid_object:RigidObject + prim_path: /World/envs/env_.*/Object + spawn: + func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd + visible: true + semantic_tags: null + copy_from_source: true + mass_props: null + deformable_props: null + rigid_props: + rigid_body_enabled: null + kinematic_enabled: false + disable_gravity: false + linear_damping: null + angular_damping: null + max_linear_velocity: null + max_angular_velocity: null + max_depenetration_velocity: 5.0 + max_contact_impulse: null + enable_gyroscopic_forces: true + retain_accelerations: null + solver_position_iteration_count: 8 + solver_velocity_iteration_count: 0 + sleep_threshold: 0.005 + stabilization_threshold: 0.0025 + collision_props: null + activate_contact_sensors: true + scale: null + articulation_props: + articulation_enabled: false + enabled_self_collisions: null + solver_position_iteration_count: null + solver_velocity_iteration_count: null + sleep_threshold: null + stabilization_threshold: null + fix_root_link: null + fixed_tendons_props: null + spatial_tendons_props: null + joint_drive_props: null + visual_material_path: material + visual_material: null + usd_path: /data/dexr_b1/cur/data/new_data_batch1/objects/scissors/object.usda + variants: null + init_state: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + lin_vel: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + ang_vel: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + collision_group: 0 + debug_vis: false + robot: + class_type: isaaclab.assets.articulation.articulation:Articulation + prim_path: /World/envs/env_.*/Robot + spawn: + func: regrind.robots.free_wuji_hand2_routea_v1:spawn_wuji2_routea_floating + visible: true + semantic_tags: null + copy_from_source: true + mass_props: null + deformable_props: null + rigid_props: + rigid_body_enabled: null + kinematic_enabled: null + disable_gravity: true + linear_damping: null + angular_damping: null + max_linear_velocity: null + max_angular_velocity: null + max_depenetration_velocity: 5.0 + max_contact_impulse: null + enable_gyroscopic_forces: null + retain_accelerations: null + solver_position_iteration_count: null + solver_velocity_iteration_count: null + sleep_threshold: null + stabilization_threshold: null + collision_props: + collision_enabled: null + contact_offset: 0.0015 + rest_offset: 0.0012 + torsional_patch_radius: null + min_torsional_patch_radius: null + activate_contact_sensors: true + scale: null + articulation_props: + articulation_enabled: null + enabled_self_collisions: true + solver_position_iteration_count: 32 + solver_velocity_iteration_count: 1 + sleep_threshold: 0.005 + stabilization_threshold: 0.0005 + fix_root_link: false + fixed_tendons_props: null + spatial_tendons_props: null + joint_drive_props: null + visual_material_path: material + visual_material: null + usd_path: /data/dexr_b1/cur/third_party/wuji-description/hand2/hand2_beta1/body/usd/right/wujihand2.usd + variants: null + init_state: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + lin_vel: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + ang_vel: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + joint_pos: + r_thumb_cmc_flex: 0.0 + r_thumb_cmc_abd: 0.0 + r_thumb_mcp: 0.0 + r_thumb_ip: 0.0 + r_index_finger_mcp_flex: 0.0 + r_index_finger_mcp_abd: 0.0 + r_index_finger_pip: 0.0 + r_index_finger_dip: 0.0 + r_middle_finger_mcp_flex: 0.0 + r_middle_finger_mcp_abd: 0.0 + r_middle_finger_pip: 0.0 + r_middle_finger_dip: 0.0 + r_ring_finger_mcp_flex: 0.0 + r_ring_finger_mcp_abd: 0.0 + r_ring_finger_pip: 0.0 + r_ring_finger_dip: 0.0 + r_pinky_mcp_flex: 0.0 + r_pinky_mcp_abd: 0.0 + r_pinky_pip: 0.0 + r_pinky_dip: 0.0 + joint_vel: + .*: 0.0 + collision_group: 0 + debug_vis: false + articulation_root_prim_path: /r_wrist + soft_joint_pos_limit_factor: 1.0 + actuators: + fingers: + class_type: isaaclab.actuators.actuator_pd:ImplicitActuator + joint_names_expr: + - r_thumb_cmc_flex + - r_thumb_cmc_abd + - r_thumb_mcp + - r_thumb_ip + - r_index_finger_mcp_flex + - r_index_finger_mcp_abd + - r_index_finger_pip + - r_index_finger_dip + - r_middle_finger_mcp_flex + - r_middle_finger_mcp_abd + - r_middle_finger_pip + - r_middle_finger_dip + - r_ring_finger_mcp_flex + - r_ring_finger_mcp_abd + - r_ring_finger_pip + - r_ring_finger_dip + - r_pinky_mcp_flex + - r_pinky_mcp_abd + - r_pinky_pip + - r_pinky_dip + effort_limit: null + velocity_limit: null + effort_limit_sim: null + velocity_limit_sim: null + stiffness: null + damping: null + armature: null + friction: null + dynamic_friction: null + viscous_friction: null + actuator_value_resolution_debug_print: false + light: + class_type: null + prim_path: /World/Light + spawn: + func: isaaclab.sim.spawners.lights.lights:spawn_light + visible: true + semantic_tags: null + copy_from_source: true + prim_type: DomeLight + color: !!python/tuple + - 0.75 + - 0.75 + - 0.75 + enable_color_temperature: false + color_temperature: 6500.0 + normalize: false + exposure: 0.0 + intensity: 2000.0 + texture_file: null + texture_format: automatic + visible_in_primary_ray: true + init_state: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + collision_group: 0 + debug_vis: false + contact_forces: + class_type: isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor + prim_path: /World/envs/env_.*/Robot/.* + update_period: 0.0 + history_length: 3 + debug_vis: true + track_pose: false + track_contact_points: false + max_contact_data_count_per_prim: 4 + track_air_time: true + force_threshold: 0.5 + filter_prim_paths_expr: [] + visualizer_cfg: + prim_path: /Visuals/ContactSensor + markers: + contact: + func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere + visible: true + semantic_tags: null + copy_from_source: true + mass_props: null + rigid_props: null + collision_props: null + activate_contact_sensors: false + visual_material_path: material + visual_material: + func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface + diffuse_color: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + emissive_color: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + roughness: 0.5 + metallic: 0.0 + opacity: 1.0 + physics_material_path: material + physics_material: null + radius: 0.02 + no_contact: + func: isaaclab.sim.spawners.shapes.shapes:spawn_sphere + visible: false + semantic_tags: null + copy_from_source: true + mass_props: null + rigid_props: null + collision_props: null + activate_contact_sensors: false + visual_material_path: material + visual_material: + func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface + diffuse_color: !!python/tuple + - 0.0 + - 1.0 + - 0.0 + emissive_color: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + roughness: 0.5 + metallic: 0.0 + opacity: 1.0 + physics_material_path: material + physics_material: null + radius: 0.02 + tf_fingertips: + class_type: isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer + prim_path: /World/envs/env_.*/Robot/r_wrist + update_period: 0.0 + history_length: 0 + debug_vis: false + source_frame_offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + target_frames: + - prim_path: /World/envs/env_.*/Robot/r_thumb_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - prim_path: /World/envs/env_.*/Robot/r_index_finger_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - prim_path: /World/envs/env_.*/Robot/r_middle_finger_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - prim_path: /World/envs/env_.*/Robot/r_ring_finger_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - prim_path: /World/envs/env_.*/Robot/r_pinky_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + visualizer_cfg: + prim_path: /Visuals/SiteFrameTransformer_fingertips + markers: + frame: + func: isaaclab.sim.spawners.from_files.from_files:spawn_from_usd + visible: true + semantic_tags: null + copy_from_source: true + mass_props: null + deformable_props: null + rigid_props: null + collision_props: null + activate_contact_sensors: false + scale: !!python/tuple + - 0.05 + - 0.05 + - 0.05 + articulation_props: null + fixed_tendons_props: null + spatial_tendons_props: null + joint_drive_props: null + visual_material_path: material + visual_material: null + usd_path: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/Props/UIElements/frame_prim.usd + variants: null + connecting_line: + func: isaaclab.sim.spawners.shapes.shapes:spawn_cylinder + visible: true + semantic_tags: null + copy_from_source: true + mass_props: null + rigid_props: null + collision_props: null + activate_contact_sensors: false + visual_material_path: material + visual_material: + func: isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface + diffuse_color: !!python/tuple + - 1.0 + - 1.0 + - 0.0 + emissive_color: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + roughness: 1.0 + metallic: 0.0 + opacity: 1.0 + physics_material_path: material + physics_material: null + radius: 0.002 + height: 1.0 + axis: Z +recorders: + dataset_file_handler_class_type: isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler + dataset_export_dir_path: /tmp/isaaclab/logs + dataset_filename: dataset + dataset_export_mode: + _value_: 1 + _name_: EXPORT_ALL + _sort_order_: 1 + export_in_record_pre_reset: true +observations: + policy: + concatenate_terms: true + concatenate_dim: -1 + enable_corruption: false + history_length: null + flatten_history_dim: true + object_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:object_pos + params: + command_name: motion + delay_key: object_pos + apply_noise: true + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + object_ori: + func: regrind.tasks.manager_based.dexterous.mdp.observations:object_ori + params: + command_name: motion + delay_key: object_quat + apply_noise: true + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + object_joint: null + hand_wrist_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_pos + params: + command_name: motion + delay_key: hand_wrist_pos + apply_noise: true + relative_to_default: false + modifiers: null + noise: null + clip: null + scale: null + history_length: 3 + flatten_history_dim: true + hand_wrist_rot6d: + func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_rot6d + params: + command_name: motion + delay_key: hand_wrist_quat + apply_noise: true + relative_to_default: false + modifiers: null + noise: null + clip: null + scale: null + history_length: 3 + flatten_history_dim: true + hand_joint_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_joint_pos + params: + command_name: motion + delay_key: hand_joint_pos + apply_noise: true + relative_to_default: true + modifiers: null + noise: null + clip: null + scale: null + history_length: 3 + flatten_history_dim: true + actions: + func: isaaclab.envs.mdp.observations:last_action + params: {} + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + command: + func: isaaclab.envs.mdp.observations:generated_commands + params: + command_name: motion + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + action_base_wrist_pos_and_rot6d: + func: regrind.tasks.manager_based.dexterous.mdp.observations:action_base_wrist_pos_and_rot6d + params: + action_term_name: root_pose + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + action_base_hand_joint_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:action_base_hand_joint_pos + params: + action_term_name: joint_pos + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + critic: + concatenate_terms: true + concatenate_dim: -1 + enable_corruption: false + history_length: null + flatten_history_dim: true + object_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:object_pos + params: + command_name: motion + apply_noise: true + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + object_ori: + func: regrind.tasks.manager_based.dexterous.mdp.observations:object_ori + params: + command_name: motion + apply_noise: true + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + object_joint: null + hand_wrist_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_pos + params: + command_name: motion + apply_noise: true + modifiers: null + noise: null + clip: null + scale: null + history_length: 3 + flatten_history_dim: true + hand_wrist_rot6d: + func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_wrist_rot6d + params: + command_name: motion + apply_noise: true + modifiers: null + noise: null + clip: null + scale: null + history_length: 3 + flatten_history_dim: true + hand_joint_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_joint_pos + params: + command_name: motion + apply_noise: true + modifiers: null + noise: null + clip: null + scale: null + history_length: 3 + flatten_history_dim: true + actions: + func: isaaclab.envs.mdp.observations:last_action + params: {} + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + command: + func: isaaclab.envs.mdp.observations:generated_commands + params: + command_name: motion + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + action_base_wrist_pos_and_rot6d: + func: regrind.tasks.manager_based.dexterous.mdp.observations:action_base_wrist_pos_and_rot6d + params: + action_term_name: root_pose + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + action_base_hand_joint_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:action_base_hand_joint_pos + params: + action_term_name: joint_pos + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + fingertips_pos: + func: regrind.tasks.manager_based.dexterous.mdp.observations:fingertips_pos + params: + command_name: motion + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + hand_joint_vel: + func: regrind.tasks.manager_based.dexterous.mdp.observations:hand_joint_vel + params: + command_name: motion + modifiers: null + noise: null + clip: null + scale: null + history_length: 0 + flatten_history_dim: true + target_object_joint: null +actions: + root_pose: + class_type: regrind.tasks.manager_based.dexterous.mdp.actions:SE3ImpedanceActionTerm + asset_name: robot + debug_vis: false + clip: null + raw_clip: !!python/tuple + - -1.0 + - 1.0 + scale_pos: 0.03333333333333333 + scale_rot: 0.10666666666666667 + translation_delta_frame: world + rotation_delta_frame: world + max_target_pos_step: null + max_target_rot_step: null + kp_pos: 300.0 + kd_pos: 30.0 + kp_rot: 3.0 + kd_rot: 0.3 + base_action_source: motion_target + command_name: motion + body_name: r_wrist + joint_pos: + class_type: regrind.tasks.manager_based.dexterous.mdp.actions:ClippedRelativeJointPositionAction + asset_name: robot + debug_vis: false + clip: null + joint_names: + - r_thumb_cmc_flex + - r_thumb_cmc_abd + - r_thumb_mcp + - r_thumb_ip + - r_index_finger_mcp_flex + - r_index_finger_mcp_abd + - r_index_finger_pip + - r_index_finger_dip + - r_middle_finger_mcp_flex + - r_middle_finger_mcp_abd + - r_middle_finger_pip + - r_middle_finger_dip + - r_ring_finger_mcp_flex + - r_ring_finger_mcp_abd + - r_ring_finger_pip + - r_ring_finger_dip + - r_pinky_mcp_flex + - r_pinky_mcp_abd + - r_pinky_pip + - r_pinky_dip + scale: + .*: 0.10666666666666667 + offset: 0.0 + preserve_order: true + use_zero_offset: true + raw_clip: !!python/tuple + - -1.0 + - 1.0 + base_action_source: motion_target + command_name: motion + max_target_step: null +events: + object_com: null + object_scale: null + object_joint_friction: null + robot_physics_material: + func: isaaclab.envs.mdp.events:randomize_rigid_body_material + params: + asset_cfg: + name: robot + joint_names: null + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: .* + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + static_friction_range: !!python/tuple + - 0.7 + - 1.3 + dynamic_friction_range: !!python/tuple + - 0.7 + - 1.3 + restitution_range: !!python/tuple + - 0.0 + - 0.0 + num_buckets: 250 + make_consistent: true + mode: startup + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + robot_scale_mass: + func: isaaclab.envs.mdp.events:randomize_rigid_body_mass + params: + asset_cfg: + name: robot + joint_names: null + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: .* + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + mass_distribution_params: !!python/tuple + - 0.95 + - 1.05 + operation: scale + mode: startup + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + robot_joint_stiffness_and_damping: + func: isaaclab.envs.mdp.events:randomize_actuator_gains + params: + asset_cfg: + name: robot + joint_names: .* + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: null + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + stiffness_distribution_params: !!python/tuple + - 0.9 + - 1.1 + damping_distribution_params: !!python/tuple + - 0.9 + - 1.1 + operation: scale + distribution: log_uniform + mode: startup + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + init_zero_joint_default_pos: + func: regrind.envs.events:init_zero_joint_default_pos + params: + asset_cfg: + name: robot + joint_names: .* + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: null + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + mode: startup + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + robot_fingers_joint_pos_offset: + func: regrind.envs.events:randomize_joint_default_pos + params: + asset_cfg: + name: robot + joint_names: + - r_(thumb|index_finger|middle_finger|ring_finger)_.* + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: null + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + pos_distribution_params: !!python/tuple + - -0.025 + - 0.025 + operation: abs + action_term_name: joint_pos + mode: startup + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + robot_wrist_translation_joint_pos_offset: null + robot_wrist_rotation_joint_pos_offset: null + init_obs_delay_buffers: + func: regrind.envs.events:init_obs_delay_buffers + params: {} + mode: startup + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + table_physics_material: null + object_physics_material: + func: isaaclab.envs.mdp.events:randomize_rigid_body_material + params: + asset_cfg: + name: object + joint_names: null + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: .* + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + static_friction_range: !!python/tuple + - 0.5 + - 1.5 + dynamic_friction_range: !!python/tuple + - 0.5 + - 1.5 + restitution_range: !!python/tuple + - 0.0 + - 0.0 + num_buckets: 250 + make_consistent: true + mode: startup + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + object_scale_mass: + func: pipeline.isaac_task:bind_physics + params: + asset_cfg: + name: object + joint_names: null + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: null + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + randomize: true + mode: startup + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + observation_time_lag: + func: regrind.envs.events:randomize_observation_time_lag + params: + time_lag_ranges: + object_pos: !!python/tuple + - 0 + - 2 + object_quat: !!python/tuple + - 0 + - 2 + object_joint: !!python/tuple + - 0 + - 2 + hand_wrist_pos: !!python/tuple + - 0 + - 2 + hand_wrist_quat: !!python/tuple + - 0 + - 2 + hand_joint_pos: !!python/tuple + - 0 + - 2 + continuous_time_lag: true + mode: reset + interval_range_s: null + is_global_time: false + min_step_count_between_reset: 0 + curriculum_gravity: null + curriculum_random_push_robot: + func: regrind.envs.events:curriculum_random_push + params: + asset_cfg: + name: robot + joint_names: null + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: null + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + push_velocity_stages: + - - 0 + - x: + - -0.05 + - 0.05 + y: + - -0.05 + - 0.05 + z: + - -0.05 + - 0.05 + roll: + - -0.1 + - 0.1 + pitch: + - -0.1 + - 0.1 + yaw: + - -0.1 + - 0.1 + mode: interval + interval_range_s: !!python/tuple + - 1.0 + - 5.0 + is_global_time: false + min_step_count_between_reset: 0 + curriculum_random_push_object: + func: regrind.envs.events:curriculum_random_push + params: + asset_cfg: + name: object + joint_names: null + joint_ids: !!python/object/apply:builtins.slice + - null + - null + - null + fixed_tendon_names: null + fixed_tendon_ids: !!python/object/apply:builtins.slice + - null + - null + - null + body_names: null + body_ids: !!python/object/apply:builtins.slice + - null + - null + - null + object_collection_names: null + object_collection_ids: !!python/object/apply:builtins.slice + - null + - null + - null + preserve_order: false + push_velocity_stages: + - - 0 + - x: + - -0.05 + - 0.05 + y: + - -0.05 + - 0.05 + z: + - -0.05 + - 0.05 + roll: + - -0.1 + - 0.1 + pitch: + - -0.1 + - 0.1 + yaw: + - -0.1 + - 0.1 + mode: interval + interval_range_s: !!python/tuple + - 1.0 + - 5.0 + is_global_time: false + min_step_count_between_reset: 0 +rerender_on_reset: false +wait_for_textures: true +xr: null +teleop_devices: + devices: {} +export_io_descriptors: false +io_descriptors_output_dir: null +log_dir: /data/dexr_b1/cur/outputs/b1_grav_cur_b1c-2/scissors_new_006/fulldr/training +is_finite_horizon: false +episode_length_s: 17.766666666666666 +rewards: + object_keypoints_pos_error_exp: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:object_keypoints_pos_error_exp + params: + command_name: motion + std: 0.015 + shaping_func: exp + weight: 3.0 + object_lin_vel_error_exp: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:object_lin_vel_error_exp + params: + command_name: motion + std: 1.0 + shaping_func: exp + weight: 1.0 + object_ang_vel_error_exp: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:object_ang_vel_error_exp + params: + command_name: motion + std: 3.14 + shaping_func: exp + weight: 1.0 + hand_wrist_pos_error_exp: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:hand_wrist_pos_error_exp + params: + command_name: motion + std: 0.02 + shaping_func: exp + weight: 0.1 + hand_wrist_rot_error_exp: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:hand_wrist_rot_error_exp + params: + command_name: motion + std: 0.2 + shaping_func: exp + weight: 0.1 + action_l2_exp: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:action_l2_exp + params: + command_name: motion + std: 1.0 + weight: 0.5 + action_rate_l2_exp: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:action_rate_l2_exp + params: + command_name: motion + std: 0.5 + weight: 1.0 + action_out_of_bounds_exp: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:action_out_of_bounds_exp + params: + std: 1.0 + weight: 1.0 + early_terminated_penalty: + func: regrind.tasks.manager_based.dexterous.mdp.rewards:is_early_terminated + params: {} + weight: -10.0 + fingertip_object_graph_error_exp: + func: regrind.tasks.manager_based.dexterous.mdp.episode1_rewards:fingertip_object_graph_error_exp + params: + command_name: motion + std: 0.03 + weight: 0.75 + functional_terminal_pose_exp: null + forbidden_root_phone_contact: null +terminations: + time_out: + func: isaaclab.envs.mdp.terminations:time_out + params: {} + time_out: true + demo_end_reached: + func: regrind.tasks.manager_based.dexterous.mdp.terminations:demo_end_reached + params: + command_name: motion + time_out: false + object_deviation: + func: regrind.tasks.manager_based.dexterous.mdp.terminations:object_deviation + params: + command_name: motion + threshold: 0.15 + time_out: false + object_out_of_bounds: + func: regrind.tasks.manager_based.dexterous.mdp.terminations:object_out_of_bounds + params: + command_name: motion + time_out: false + hand_far_from_object: + func: regrind.tasks.manager_based.dexterous.mdp.terminations:hand_far_from_object + params: + command_name: motion + threshold: 0.5 + time_out: false + hit_table: null +curriculum: {} +commands: + motion: + class_type: regrind.tasks.manager_based.dexterous.mdp.commands:MotionCommand + resampling_time_range: !!python/tuple + - 1000000000.0 + - 1000000000.0 + debug_vis: false + object_asset_name: object + robot_asset_name: robot + tf_asset_names: + - tf_fingertips + demo_path: /data/dexr_b1/cur/data/new_data_batch1/cases/scissors_new_006/human.h5 + demo_dt: 0.016666666666666666 + retargeted_traj_path: /data/dexr_b1/cur/data/new_data_batch1/cases/scissors_new_006/trajectory.h5 + required_robot_root_mode: free + source_frame_count: null + consumer_window_start_inclusive: null + consumer_window_end_exclusive: null + required_frame_indexed_datasets: !!python/tuple [] + terminal_hold_steps: 0 + reference_steps: 533 + augmentation_traj_dir: null + keypoint_paths: + bottom: /data/dexr_b1/cur/data/new_data_batch1/objects/scissors/keypoints.npy + keypoint_body_prim_paths: + bottom: '{ENV_REGEX_NS}/Object/bottom' + keypoint_scale: 1.0 + object_joint_axis: null + actuated_joint_names: + - r_thumb_cmc_flex + - r_thumb_cmc_abd + - r_thumb_mcp + - r_thumb_ip + - r_index_finger_mcp_flex + - r_index_finger_mcp_abd + - r_index_finger_pip + - r_index_finger_dip + - r_middle_finger_mcp_flex + - r_middle_finger_mcp_abd + - r_middle_finger_pip + - r_middle_finger_dip + - r_ring_finger_mcp_flex + - r_ring_finger_mcp_abd + - r_ring_finger_pip + - r_ring_finger_dip + - r_pinky_mcp_flex + - r_pinky_mcp_abd + - r_pinky_pip + - r_pinky_dip + fingertip_keypoint_indices: !!python/tuple + - 4 + - 8 + - 12 + - 16 + - 20 + fingertip_frame_names: !!python/tuple + - r_thumb_tip + - r_index_finger_tip + - r_middle_finger_tip + - r_ring_finger_tip + - r_pinky_tip + enable_reset_perturbation: true + traj_aug_enabled: false + traj_aug_translation_lower_bound: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + traj_aug_translation_upper_bound: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + traj_aug_yaw_range: !!python/tuple + - 0.0 + - 0.0 + traj_aug_start: 0.0 + traj_aug_use: 1.0 + traj_aug_apply_to_hand: true + rand_wrist_pos_range: !!python/tuple + - -0.005 + - 0.005 + rand_wrist_rot_range: !!python/tuple + - -0.05 + - 0.05 + rand_finger_joint_pos_range: !!python/tuple + - -0.05 + - 0.05 + rand_object_pos_range: !!python/tuple + - -0.005 + - 0.005 + rand_object_rot_range: !!python/tuple + - -0.05 + - 0.05 + rand_object_joint_range: !!python/tuple + - -0.05 + - 0.05 + adaptive_kernel_size: 1 + adaptive_lambda: 0.8 + adaptive_uniform_ratio: 0.1 + adaptive_alpha: 0.001 + adaptive_sampling_enabled: false + rsi_enabled: true + debug_vis_marker_scale: 0.5 + debug_vis_keypoints: false + debug_vis_contact_force_arrows: false + contact_force_arrow_scale: 0.0005 + contact_force_arrow_min_length: 0.008 + contact_force_arrow_max_length: 0.12 + object_pos_lower_bound: !!python/tuple + - 0.10613337684920437 + - 0.261845569644909 + - 0.1483022886894307 + object_pos_upper_bound: !!python/tuple + - 0.21412462348185085 + - 0.4201734001835129 + - 0.31234000989960164 + shared_translation_range: !!python/tuple + - -0.03 + - 0.03 + shared_rotation_range_rad: !!python/tuple + - -0.2617993877991494 + - 0.2617993877991494 + finger_joint_perturbation_range_rad: !!python/tuple + - -0.025 + - 0.025 +obs_max_lags: + object_pos: 2 + object_quat: 2 + object_joint: 2 + hand_wrist_pos: 2 + hand_wrist_quat: 2 + hand_joint_pos: 2 +tf_source_prim_path: '{ENV_REGEX_NS}/Robot/r_wrist' +tf_target_frames: + fingertips: + - prim_path: /World/envs/env_.*/Robot/r_thumb_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - prim_path: /World/envs/env_.*/Robot/r_index_finger_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - prim_path: /World/envs/env_.*/Robot/r_middle_finger_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - prim_path: /World/envs/env_.*/Robot/r_ring_finger_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - prim_path: /World/envs/env_.*/Robot/r_pinky_tip + name: null + offset: + pos: !!python/tuple + - 0.0 + - 0.0 + - 0.0 + rot: !!python/tuple + - 1.0 + - 0.0 + - 0.0 + - 0.0 +enable_contact_sensor: true +include_contact_forces_in_critic_obs: false diff --git a/objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/config/requirements.txt b/objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/config/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..820c582855e6de22f5b1a4fc482340de6d48e430 --- /dev/null +++ b/objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/config/requirements.txt @@ -0,0 +1,230 @@ +isaaclab==0.47.2 +isaaclab_assets==0.2.3 +isaaclab_tasks==0.11.6 +isaaclab_rl==0.4.4 +isaacsim-benchmark==5.1.0.0 +isaacsim-example==5.1.0.0 +torchvision==0.22.0 +onnx-ir==1.0.0 +pytransform3d==3.17.0 +tensordict==0.13.0 +portalocker==2.7.0 +Rtree==1.3.0 +nvidia-cusparselt-cu12==0.6.3 +isaacsim-storage==5.1.0.0 +nvidia-cuda-nvrtc-cu12==12.6.77 +wrapt==1.16.0 +osqp==0.6.7.post3 +proglog==0.1.12 +awscrt==0.23.8 +isaacsim-template==5.1.0.0 +isaacsim-extscache-kit-sdk==5.1.0.0 +tqdm==4.70.1 +packaging==23.0 +typing_extensions==4.12.2 +toml==0.10.2 +PyJWT==2.15.1 +psutil==5.9.8 +pluggy==1.6.0 +s3transfer==0.13.1 +gitdb==4.0.12 +charset-normalizer==3.3.2 +isaacsim-test==5.1.0.0 +omegaconf==2.3.1 +aiofiles==23.2.1 +uvicorn==0.29.0 +antlr4-python3-runtime==4.9.3 +gymnasium==1.2.0 +Markdown==3.11 +h5py==3.16.0 +aiohttp==3.11.11 +torchaudio==2.7.0 +certifi==2026.7.22 +filelock==3.13.1 +azure-storage-blob==12.17.0 +isaaclab_tasks==0.11.6 +httptools==0.6.1 +imageio-ffmpeg==0.6.0 +propcache==0.2.1 +yarl==1.18.3 +asteval==1.0.6 +azure-core==1.28.0 +azure-identity==1.13.0 +sympy==1.13.3 +rsl-rl-lib==3.0.1 +qpsolvers==4.13.0 +huggingface_hub==0.36.2 +GitPython==3.2.0 +Pygments==2.21.0 +protobuf==7.36.2 +nvidia-cudnn-cu12==9.5.1.17 +iniconfig==2.3.1 +isaaclab_assets==0.2.3 +loop-rate-limiters==1.2.0 +pin==2.7.0 +hydra-core==1.3.4 +nest-asyncio==1.5.6 +hpp-fcl==2.4.4 +starlette==0.45.3 +einops==0.8.2 +watchdog==4.0.0 +llvmlite==0.42.0 +nvidia-cusolver-cu12==11.7.1.2 +nvidia-nvtx-cu12==12.6.77 +nvidia-cuda-cupti-cu12==12.6.80 +fastapi==0.115.7 +eigenpy==3.5.1 +matplotlib==3.10.3 +idna-ssl==1.1.0 +sentry-sdk==2.29.1 +annotated-types==0.8.0 +isaacsim-robot-setup==5.1.0.0 +oauthlib==3.2.2 +safetensors==0.8.0 +jmespath==1.0.1 +pip==25.3 +isaacsim==5.1.0.0 +kiwisolver==1.4.4 +isaacsim-extscache-kit==5.1.0.0 +requests-oauthlib==1.3.1 +aiobotocore==2.24.0 +lxml==6.1.3 +aioitertools==0.11.0 +urllib3==2.8.0 +pycares==4.8.0 +pytest-mock==3.16.0 +torch==2.7.0 +isaacsim-cortex==5.1.0.0 +importlib_metadata==9.0.1 +tensorboard-data-server==0.7.2 +isaacsim-robot-motion==5.1.0.0 +click==8.5.0 +dex_retargeting==0.4.6 +isaacsim-core==5.1.0.0 +anytree==2.13.0 +Farama-Notifications==0.0.6 +transformers==4.56.2 +isaacsim-robot==5.1.0.0 +isaacsim-rl==5.1.0.0 +fsspec==2024.6.1 +cmeel-qhull==8.0.2.1 +cmeel-console-bridge==1.0.2.3 +hf-xet==1.7.0 +prettytable==3.3.0 +coverage==7.4.4 +multidict==6.1.0 +gunicorn==23.0.0 +Werkzeug==3.1.9 +onnx==1.18.0 +cmeel-octomap==1.10.0 +tensorboard==2.21.0 +Mosek==11.1.2 +typing-inspection==0.4.2 +isaacsim-code-editor==5.1.0.0 +nvidia-cufft-cu12==11.3.0.4 +wcwidth==0.9.2 +cycler==0.11.0 +contourpy==1.3.1 +aiohappyeyeballs==2.4.4 +numpy==1.26.0 +regex==2026.9.29 +idna==3.10 +nvidia-cufile-cu12==1.11.1.6 +PyYAML==6.0.2 +decorator==5.3.1 +cmeel-assimp==5.4.3.1 +drake==1.51.1 +aioboto3==15.1.0 +cloudpickle==3.1.2 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b/objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/config/resume_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..6630a4144b9e01df8668ff46c84bf89cd67fb36f --- /dev/null +++ b/objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/config/resume_metadata.json @@ -0,0 +1,11 @@ +{ + "model_state_loaded": true, + "optimizer_learning_rates_after_load": [ + 1.5000000000000004e-05 + ], + "optimizer_state_entry_count_after_load": 21, + "optimizer_state_loaded": true, + "resume_checkpoint_sha256": "7130f7c219dd171289f7afaa136f5a173aca996e4ac18726b16f810994dca07a", + "resume_path": "/data/dexr_b1/cur/outputs/b1_grav_cur_b1c-2/scissors_new_006/teacher/training/model_4999.pt", + "source_learning_iteration": 4999 +} diff --git a/objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/dependencies.json b/objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/dependencies.json new file mode 100644 index 0000000000000000000000000000000000000000..64e4a734a4fb6d958579e4a2f325d682f334948a --- /dev/null +++ b/objects/scissors/trajectories/scissors_new_006/wuji2/stage3/58i6zoqd/dependencies.json @@ -0,0 +1,115 @@ +{ + "status": "INCOMPLETE_FOR_EVALUATION", + "evaluation_ready": false, + "scope": "Checkpoint and configurations only; matching training inputs are not bundled", + "dependencies": [ + { + "role": "human_h5", + "training_source_path": "data/new_data_batch1/cases/scissors_new_006/human.h5", + "expected_sha256": "cd6a1ab1037ce886fbe0e4952d6a74f49a4ba0a3ff9dff4211fe9bff5e11ef93", + "availability": "UNRESOLVED_NOT_BUNDLED", + "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence", + "hf_matches": [] + }, + { + "role": "retarget_h5", + "training_source_path": "data/new_data_batch1/cases/scissors_new_006/trajectory.h5", + "expected_sha256": 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plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence", + "hf_matches": [ + { + "repo_id": "FlappyHimself/reorientation-artifacts", + "revision": "7e6bef8f22540f90732f8053ccf578a44b367725", + "path": "provenance/selected15-20261008-v1/assets/profiles/scissors/sharpa_profile/assets/surface_surface_keypoints.npy" + }, + { + "repo_id": "FlappyHimself/reorientation-artifacts", + "revision": "7e6bef8f22540f90732f8053ccf578a44b367725", + "path": "provenance/selected15-20261008-v1/assets/profiles/scissors/surface_keypoints.npy" + } + ] + }, + { + "role": "properties", + "training_source_path": "data/new_data_batch1/objects/scissors/properties.json", + "expected_sha256": "8f97149180c01a737247bee6ba27fffa469c454768cc987e751e2881047a48d1", + "availability": "UNRESOLVED_NOT_BUNDLED", + "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence", + "hf_matches": [] + }, + { + "role": "urdf", + "training_source_path": "data/new_data_batch1/objects/scissors/object.urdf", + "expected_sha256": "0c7908d8fe4357747a35d814dfa0efc9b2c7de1df43a6cdd7d0bba95dfef1c48", + "availability": "UNRESOLVED_NOT_BUNDLED", + "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence", + "hf_matches": [] + }, + { + "role": "usd", + "training_source_path": "data/new_data_batch1/objects/scissors/object.usda", + "expected_sha256": "081dbe9a53f09594aba09565f71d8bcff8bb4cc8f58776bddafa9223f38dc0b3", + "availability": "UNRESOLVED_NOT_BUNDLED", + "lookup_scope": "Remote LFS identities plus remote-identity-verified local Git-blob cache; absence is unresolved, not proof of global nonexistence", + "hf_matches": [] + }, + { + "role": "visual", + "training_source_path": "data/new_data_batch1/objects/scissors/visual.obj", + "expected_sha256": 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