lishanyang/openwam-robotwin-runtime

OpenWAM Robotwin GT Runtime

This package contains the patched Robotwin files and helper scripts used to generate ground-truth data aligned with the OpenWAM temporal features.

The OpenWAM source code itself is not duplicated here. Clone it separately:

git clone https://github.com/OpenWAM-Official/OpenWAM.git

Setup

Install/activate the official RoboTwin environment, then run:

export ROBOTWIN_ROOT=$HOME/workspace/RoboTwin
bash setup_robotwin.sh "$ROBOTWIN_ROOT"

The setup script clones the upstream RoboTwin repository when the target does not exist and installs the patched collector, head-camera-only configuration, and early-stop logic.

Required source data

The collector needs only these files for each task and embodiment:

<task>/<aloha-agilex_clean_50|franka_clean_50>/_traj_data/*.pkl
<task>/<aloha-agilex_clean_50|franka_clean_50>/seed.txt
<task>/<aloha-agilex_clean_50|franka_clean_50>/scene_info.json

RGB videos are not required for replay-based GT extraction.

Download the minimal source package with:

hf download lishanyang/openwam-robotwin-source \
  --repo-type dataset --local-dir /path/to/robotwin-source

Use these source roots in the batch script:

AGILEX_SRC=/path/to/robotwin-source/data/agilex
FRANKA_SRC=/path/to/robotwin-source/data/franka

Also update save_path in the two supplied YAML configs to a writable local GT output directory before starting the batch.

Capture settings

The supplied configs keep head_camera only, save at most 132 replay frames, and stop physical replay immediately after frame 131. These are the frames used by the feature manifests (num_frames=33, frame_stride=4).

Run the batch collector after adjusting the paths in scripts/run_robotwin_gt_export.example.sh:

bash scripts/run_robotwin_gt_export.example.sh agilex
bash scripts/run_robotwin_gt_export.example.sh franka

Align GT with features

python scripts/extract_robotwin_aligned_gt.py \
  --manifest artifacts/agilex_robotwin10s_manifest.jsonl \
  --gt-root /path/to/dataset_gt/agilex \
  --output artifacts/agilex_aligned_gt

The extractor selects exactly indices 0, 4, ..., 128, with a linspace fallback for episodes shorter than 132 frames.

Provenance

The patched files were based on RoboTwin commit recorded in ROBOTWIN_UPSTREAM_COMMIT. The output is intended for research use and should be checked against the source feature manifest before evaluation.