| # Nova-Sim Observation Configuration | |
| # | |
| # This file defines which parameters from the Nova-Sim state stream | |
| # are mapped to robot observations for recording, replay, and inference. | |
| # | |
| # To disable a feature, comment out the entire section or set enabled: false | |
| repositories: | |
| # Dataset repo used for upload/download and dataset metadata. | |
| dataset: "${HF_USER}/ur5-follow" | |
| dataset_branch: "main" | |
| # Policy repo used for model upload/download. | |
| policy: "${HF_USER}/ur5-follow" | |
| paths: | |
| data_dir: "./data" | |
| checkpoint_dir: "./policies" | |
| ui: | |
| trainer_host: "127.0.0.1" | |
| trainer_port: 3005 | |
| recording: | |
| task_name: "follow" | |
| episode_time_s: 5 | |
| reset_time_s: 0 | |
| num_episodes: 10 | |
| flow: "follow" | |
| follow: | |
| target_object: "t_object" | |
| max_velocity: 0.5 | |
| kp: 1.0 | |
| deadzone_m: 0.01 | |
| # Action horizon: how many timesteps ahead for target position actions | |
| # Time horizon = n_action_steps / fps (e.g., 5 steps @ 10 FPS = 0.5s) | |
| n_action_steps: 20 | |
| robot: | |
| type: "nova_sim" | |
| id: "ur5_robot" | |
| # Raw data capture (recording schema) | |
| data: | |
| fps: 20 | |
| fields: | |
| # End-effector Cartesian position (in meters) | |
| # Source: end_effector dict from Nova-Sim state | |
| - name: ee_x | |
| source: end_effector | |
| field: x | |
| - name: ee_y | |
| source: end_effector | |
| field: y | |
| - name: ee_z | |
| source: end_effector | |
| field: z | |
| # End-effector orientation (quaternion) | |
| # Source: ee_orientation dict from Nova-Sim state | |
| - name: ee_qw | |
| source: ee_orientation | |
| field: w | |
| - name: ee_qx | |
| source: ee_orientation | |
| field: x | |
| - name: ee_qy | |
| source: ee_orientation | |
| field: y | |
| - name: ee_qz | |
| source: ee_orientation | |
| field: z | |
| # End-effector target position (meters) | |
| # Source: ee_target dict from Nova-Sim state | |
| - name: target_x | |
| source: ee_target | |
| field: x | |
| - name: target_y | |
| source: ee_target | |
| field: y | |
| - name: target_z | |
| source: ee_target | |
| field: z | |
| # End-effector target orientation (Euler angles) | |
| # Source: ee_target_orientation dict from Nova-Sim state | |
| - name: target_roll | |
| source: ee_target_orientation | |
| field: roll | |
| - name: target_pitch | |
| source: ee_target_orientation | |
| field: pitch | |
| - name: target_yaw | |
| source: ee_target_orientation | |
| field: yaw | |
| # Target object pose from scene stream (for follow supervision/debugging) | |
| - name: t_obj_x | |
| source: scene_object:t_object | |
| field: position.x | |
| - name: t_obj_y | |
| source: scene_object:t_object | |
| field: position.y | |
| - name: t_obj_z | |
| source: scene_object:t_object | |
| field: position.z | |
| - name: t_obj_qw | |
| source: scene_object:t_object | |
| field: orientation.w | |
| - name: t_obj_qx | |
| source: scene_object:t_object | |
| field: orientation.x | |
| - name: t_obj_qy | |
| source: scene_object:t_object | |
| field: orientation.y | |
| - name: t_obj_qz | |
| source: scene_object:t_object | |
| field: orientation.z | |
| # Gripper state (0-255) | |
| # Source: gripper scalar from Nova-Sim state | |
| - name: gripper | |
| source: gripper | |
| # Reward (per-step) | |
| # Source: reward scalar from Nova-Sim state | |
| - name: reward | |
| source: reward | |
| # Joint positions (6) | |
| # Source: joint_positions array from Nova-Sim state | |
| - name: joint_0 | |
| source: joint_positions | |
| index: 0 | |
| - name: joint_1 | |
| source: joint_positions | |
| index: 1 | |
| - name: joint_2 | |
| source: joint_positions | |
| index: 2 | |
| - name: joint_3 | |
| source: joint_positions | |
| index: 3 | |
| - name: joint_4 | |
| source: joint_positions | |
| index: 4 | |
| - name: joint_5 | |
| source: joint_positions | |
| index: 5 | |
| # Joint targets (6) | |
| # Source: joint_targets array from Nova-Sim state | |
| - name: joint_target_0 | |
| source: joint_targets | |
| index: 0 | |
| - name: joint_target_1 | |
| source: joint_targets | |
| index: 1 | |
| - name: joint_target_2 | |
| source: joint_targets | |
| index: 2 | |
| - name: joint_target_3 | |
| source: joint_targets | |
| index: 3 | |
| - name: joint_target_4 | |
| source: joint_targets | |
| index: 4 | |
| - name: joint_target_5 | |
| source: joint_targets | |
| index: 5 | |
| # Camera streams recorded at dataset root (<camera_name>) | |
| cameras: | |
| fps: 20 | |
| # WACT wrist camera: attached to end-effector, straight -x view (no diagonal orbit) | |
| ee_wrist: | |
| width: 240 | |
| height: 160 | |
| label: WACT XY Wrist -X | |
| follow_site: ee_site | |
| look_target_site: stick_tip | |
| # Straight -x with elevated orbit; use elevation/distance instead of offset.z. | |
| azimuth: 180 | |
| elevation: -30 | |
| distance: 1 | |
| track_orientation: false | |
| offset: [0.35, 0.0, 0.0] | |
| preprocessing: | |
| wact_xy: | |
| reward: | |
| success_reward_min: -0.05 | |
| fps: 10 | |
| observations: | |
| fps: 10 | |
| # Keep Cartesian state channels for debugging/aux tasks. | |
| state: | |
| - ee_x | |
| - ee_y | |
| - target_x | |
| - target_y | |
| # Main vision stream for WACT. | |
| images: | |
| - ee_wrist | |
| actions: | |
| fps: 10 | |
| items: | |
| - vx | |
| - vy | |
| training: | |
| wact_xy: | |
| policy_type: "act" | |
| training_steps: 20000 | |
| policy_private: false | |
| hf_hardware: "l4x1" | |
| hf_timeout: "12h" | |
| inference: | |
| # Pose restrictions applied during replay/inference when sending actions. | |
| policy: wact_xy | |
| pose_restrictions: | |
| cartesian: | |
| enabled: true | |
| x: | |
| min: 0.3 | |
| max: 0.9 | |
| y: | |
| min: -0.6 | |
| max: 0.6 | |
| z: | |
| min: 0.7 | |
| max: 1.0 | |
| # Episode metadata (always included, cannot be disabled) | |
| metadata: | |
| - reward | |
| - terminated | |
| - truncated | |
| - steps | |