Delete scale_70

scale_70/training/.hydra/config.yaml

@@ -1,151 +0,0 @@
-cameras:
-  static:
-    _target_: vr_env.camera.static_camera.StaticCamera
-    name: static
-    fov: 10
-    aspect: 1
-    nearval: 0.01
-    farval: 10
-    width: 200
-    height: 200
-    look_at:
-    - -0.026242351159453392
-    - -0.0302329882979393
-    - 0.3920000493526459
-    look_from:
-    - 2.871459009488717
-    - -2.166602199425597
-    - 2.555159848480571
-    up_vector:
-    - 0.4041403970338857
-    - 0.22629790978217404
-    - 0.8862616969685161
-  gripper:
-    _target_: vr_env.camera.gripper_camera.GripperCamera
-    name: gripper
-    fov: 75
-    aspect: 1
-    nearval: 0.01
-    farval: 2
-    width: 84
-    height: 84
-  tactile:
-    _target_: vr_env.camera.tactile_sensor.TactileSensor
-    name: tactile
-    width: 120
-    height: 160
-    digit_link_ids:
-    - 10
-    - 12
-    visualize_gui: false
-    config_path: conf/digit_sensor/config_digit.yml
-load_dir: /work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/
-data_path: data
-save_dir: ???
-show_gui: false
-processes: 16
-max_episode_frames: 1
-save_body_infos: true
-set_static_cam: false
-env:
-  cameras: ${cameras}
-  show_gui: ${show_gui}
-  use_vr: false
-scene:
-  _target_: vr_env.scene.play_table_scene.PlayTableScene
-  _recursive_: false
-  name: calvin_scene_A
-  data_path: ${data_path}
-  global_scaling: 0.8
-  euler_obs: ${robot.euler_obs}
-  robot_base_position:
-  - -0.34
-  - -0.46
-  - 0.24
-  robot_base_orientation:
-  - 0
-  - 0
-  - 0
-  robot_initial_joint_positions:
-  - -1.21779206
-  - 1.03987646
-  - 2.11978261
-  - -2.34205014
-  - -0.87015947
-  - 1.64119353
-  - 0.55344866
-  surfaces:
-    table:
-    - - 0.0
-      - -0.15
-      - 0.46
-    - - 0.35
-      - -0.03
-      - 0.46
-    slider_left:
-    - - -0.32
-      - 0.05
-      - 0.46
-    - - -0.16
-      - 0.12
-      - 0.46
-    slider_right:
-    - - -0.05
-      - 0.05
-      - 0.46
-    - - 0.13
-      - 0.12
-      - 0.46
-  objects:
-    fixed_objects:
-      table:
-        file: calvin_table_A/urdf/calvin_table_A.urdf
-        initial_pos:
-        - 0
-        - 0
-        - 0
-        initial_orn:
-        - 0
-        - 0
-        - 0
-        joints:
-          base__slide:
-            initial_state: 0
-          base__drawer:
-            initial_state: 0
-        buttons:
-          base__button:
-            initial_state: 0
-            effect: led
-        switches:
-          base__switch:
-            initial_state: 0
-            effect: lightbulb
-        lights:
-          lightbulb:
-            link: light_link
-            color:
-            - 1
-            - 1
-            - 0
-            - 1
-          led:
-            link: led_link
-            color:
-            - 0
-            - 1
-            - 0
-            - 1
-    movable_objects:
-      block_red:
-        file: blocks/block_red_middle.urdf
-        initial_pos: any
-        initial_orn: any
-      block_blue:
-        file: blocks/block_blue_small.urdf
-        initial_pos: any
-        initial_orn: any
-      block_pink:
-        file: blocks/block_pink_big.urdf
-        initial_pos: any
-        initial_orn: any

scale_70/training/.hydra/hydra.yaml

@@ -1,170 +0,0 @@
-hydra:
-  run:
-    dir: /work/dlclarge2/meeso-lfp/calvin_data/task_A_A/
-  sweep:
-    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
-    subdir: ${hydra.job.num}
-  launcher:
-    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
-  sweeper:
-    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
-    max_batch_size: null
-  help:
-    app_name: ${hydra.job.name}
-    header: '${hydra.help.app_name} is powered by Hydra.
-
-      '
-    footer: 'Powered by Hydra (https://hydra.cc)
-
-      Use --hydra-help to view Hydra specific help
-
-      '
-    template: '${hydra.help.header}
-
-      == Configuration groups ==
-
-      Compose your configuration from those groups (group=option)
-
-
-      $APP_CONFIG_GROUPS
-
-
-      == Config ==
-
-      Override anything in the config (foo.bar=value)
-
-
-      $CONFIG
-
-
-      ${hydra.help.footer}
-
-      '
-  hydra_help:
-    template: 'Hydra (${hydra.runtime.version})
-
-      See https://hydra.cc for more info.
-
-
-      == Flags ==
-
-      $FLAGS_HELP
-
-
-      == Configuration groups ==
-
-      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
-      to command line)
-
-
-      $HYDRA_CONFIG_GROUPS
-
-
-      Use ''--cfg hydra'' to Show the Hydra config.
-
-      '
-    hydra_help: ???
-  hydra_logging:
-    version: 1
-    formatters:
-      colorlog:
-        (): colorlog.ColoredFormatter
-        format: '[%(cyan)s%(asctime)s%(reset)s][%(purple)sHYDRA%(reset)s] %(message)s'
-    handlers:
-      console:
-        class: logging.StreamHandler
-        formatter: colorlog
-        stream: ext://sys.stdout
-    root:
-      level: INFO
-      handlers:
-      - console
-    disable_existing_loggers: false
-  job_logging:
-    version: 1
-    formatters:
-      simple:
-        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
-      colorlog:
-        (): colorlog.ColoredFormatter
-        format: '[%(cyan)s%(asctime)s%(reset)s][%(blue)s%(name)s%(reset)s][%(log_color)s%(levelname)s%(reset)s]
-          - %(message)s'
-        log_colors:
-          DEBUG: purple
-          INFO: green
-          WARNING: yellow
-          ERROR: red
-          CRITICAL: red
-    handlers:
-      console:
-        class: logging.StreamHandler
-        formatter: colorlog
-        stream: ext://sys.stdout
-      file:
-        class: logging.FileHandler
-        formatter: simple
-        filename: ${hydra.job.name}.log
-    root:
-      level: INFO
-      handlers:
-      - console
-      - file
-    disable_existing_loggers: false
-  env: {}
-  searchpath: []
-  callbacks: {}
-  output_subdir: .hydra
-  overrides:
-    hydra:
-    - hydra.run.dir=/work/dlclarge2/meeso-lfp/calvin_data/task_A_A/
-    task:
-    - load_dir=/work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/
-    - set_static_cam=false
-    - processes=16
-    - +scene=calvin_scene_A
-    - show_gui=false
-  job:
-    name: datarenderer
-    override_dirname: +scene=calvin_scene_A,load_dir=/work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/,processes=16,set_static_cam=false,show_gui=false
-    id: ???
-    num: ???
-    config_name: config_rendering
-    env_set: {}
-    env_copy: []
-    config:
-      override_dirname:
-        kv_sep: '='
-        item_sep: ','
-        exclude_keys: []
-  runtime:
-    version: 1.1.1
-    cwd: /home/meeso/VRENVCalvinRender/vr_env
-    config_sources:
-    - path: hydra.conf
-      schema: pkg
-      provider: hydra
-    - path: /home/meeso/VRENVCalvinRender/conf
-      schema: file
-      provider: main
-    - path: hydra_plugins.hydra_colorlog.conf
-      schema: pkg
-      provider: hydra-colorlog
-    - path: ''
-      schema: structured
-      provider: schema
-    choices:
-      scene: calvin_scene_A
-      cameras: static_gripper_tactile
-      cameras/cameras@cameras.tactile: tactile
-      cameras/cameras@cameras.gripper: gripper
-      cameras/cameras@cameras.static: static
-      hydra/env: default
-      hydra/callbacks: null
-      hydra/job_logging: colorlog
-      hydra/hydra_logging: colorlog
-      hydra/hydra_help: default
-      hydra/help: default
-      hydra/sweeper: basic
-      hydra/launcher: basic
-      hydra/output: default
-  verbose: false

scale_70/training/.hydra/merged_config.yaml

@@ -1,393 +0,0 @@
-cameras:
-  static:
-    _target_: calvin_env.camera.static_camera.StaticCamera
-    name: static
-    fov: 10
-    aspect: 1
-    nearval: 0.01
-    farval: 10
-    width: 200
-    height: 200
-    look_at:
-    - -0.026242351159453392
-    - -0.0302329882979393
-    - 0.3920000493526459
-    look_from:
-    - 2.871459009488717
-    - -2.166602199425597
-    - 2.555159848480571
-    up_vector:
-    - 0.4041403970338857
-    - 0.22629790978217404
-    - 0.8862616969685161
-  gripper:
-    _target_: calvin_env.camera.gripper_camera.GripperCamera
-    name: gripper
-    fov: 75
-    aspect: 1
-    nearval: 0.01
-    farval: 2
-    width: 84
-    height: 84
-  tactile:
-    _target_: calvin_env.camera.tactile_sensor.TactileSensor
-    name: tactile
-    width: 120
-    height: 160
-    digit_link_ids:
-    - 10
-    - 12
-    visualize_gui: false
-    config_path: conf/digit_sensor/config_digit.yml
-vr_input:
-  vr_controller:
-    POSITION: 1
-    ORIENTATION: 2
-    ANALOG: 3
-    BUTTONS: 6
-    BUTTON_A: 2
-    BUTTON_B: 1
-    vr_controller_id: 3
-    gripper_orientation_offset:
-    - 0
-    - 3
-    - 3.14
-    gripper_position_offset:
-    - -0.2
-    - 0.3
-    - 0
-  _target_: calvin_env.io_utils.vr_input.VrInput
-  limit_angle:
-  - 90
-  - 0
-  - 0
-  - -1
-  visualize_vr_pos: true
-  reset_button_queue_len: 60
-env:
-  _target_: calvin_env.envs.play_table_env.PlayTableSimEnv
-  _recursive_: false
-  cameras: ${cameras}
-  seed: 0
-  bullet_time_step: 240.0
-  use_vr: false
-  show_gui: ${show_gui}
-  robot_cfg: ${robot}
-  scene_cfg: ${scene}
-  use_scene_info: false
-  use_egl: true
-  control_freq: 30
-scene:
-  _target_: calvin_env.scene.play_table_scene.PlayTableScene
-  _recursive_: false
-  data_path: ${data_path}
-  global_scaling: 0.8
-  euler_obs: ${robot.euler_obs}
-  robot_base_position:
-  - -0.34
-  - -0.46
-  - 0.24
-  robot_base_orientation:
-  - 0
-  - 0
-  - 0
-  robot_initial_joint_positions:
-  - -1.21779206
-  - 1.03987646
-  - 2.11978261
-  - -2.34205014
-  - -0.87015947
-  - 1.64119353
-  - 0.55344866
-  surfaces:
-    table:
-    - - 0.0
-      - -0.15
-      - 0.46
-    - - 0.35
-      - -0.03
-      - 0.46
-    slider_left:
-    - - -0.32
-      - 0.05
-      - 0.46
-    - - -0.16
-      - 0.12
-      - 0.46
-    slider_right:
-    - - -0.05
-      - 0.05
-      - 0.46
-    - - 0.13
-      - 0.12
-      - 0.46
-  objects:
-    fixed_objects:
-      table:
-        file: calvin_table_D/urdf/calvin_table_D.urdf
-        initial_pos:
-        - 0
-        - 0
-        - 0
-        initial_orn:
-        - 0
-        - 0
-        - 0
-        joints:
-          base__slide:
-            initial_state: 0
-          base__drawer:
-            initial_state: 0
-        buttons:
-          base__button:
-            initial_state: 0
-            effect: led
-        switches:
-          base__switch:
-            initial_state: 0
-            effect: lightbulb
-        lights:
-          lightbulb:
-            link: light_link
-            color:
-            - 1
-            - 1
-            - 0
-            - 1
-          led:
-            link: led_link
-            color:
-            - 0
-            - 1
-            - 0
-            - 1
-    movable_objects:
-      block_red:
-        file: blocks/block_red_middle.urdf
-        initial_pos: any
-        initial_orn: any
-      block_blue:
-        file: blocks/block_blue_small.urdf
-        initial_pos: any
-        initial_orn: any
-      block_pink:
-        file: blocks/block_pink_big.urdf
-        initial_pos: any
-        initial_orn: any
-  name: calvin_scene_D
-robot:
-  _target_: calvin_env.robot.robot.Robot
-  filename: franka_panda/panda_longer_finger.urdf
-  base_position: ${scene.robot_base_position}
-  base_orientation: ${scene.robot_base_orientation}
-  initial_joint_positions: ${scene.robot_initial_joint_positions}
-  max_joint_force: 200.0
-  gripper_force: 200
-  arm_joint_ids:
-  - 0
-  - 1
-  - 2
-  - 3
-  - 4
-  - 5
-  - 6
-  gripper_joint_ids:
-  - 9
-  - 11
-  gripper_joint_limits:
-  - 0
-  - 0.04
-  tcp_link_id: 15
-  end_effector_link_id: 7
-  gripper_cam_link: 12
-  use_nullspace: true
-  max_velocity: 2
-  use_ik_fast: false
-  magic_scaling_factor_pos: 1
-  magic_scaling_factor_orn: 1
-  use_target_pose: true
-  euler_obs: true
-tasks:
-  _target_: calvin_env.envs.tasks.Tasks
-  tasks:
-    rotate_red_block_right:
-    - rotate_object
-    - block_red
-    - -60
-    rotate_red_block_left:
-    - rotate_object
-    - block_red
-    - 60
-    rotate_blue_block_right:
-    - rotate_object
-    - block_blue
-    - -60
-    rotate_blue_block_left:
-    - rotate_object
-    - block_blue
-    - 60
-    rotate_pink_block_right:
-    - rotate_object
-    - block_pink
-    - -60
-    rotate_pink_block_left:
-    - rotate_object
-    - block_pink
-    - 60
-    push_red_block_right:
-    - push_object
-    - block_red
-    - 0.1
-    - 0
-    push_red_block_left:
-    - push_object
-    - block_red
-    - -0.1
-    - 0
-    push_blue_block_right:
-    - push_object
-    - block_blue
-    - 0.1
-    - 0
-    push_blue_block_left:
-    - push_object
-    - block_blue
-    - -0.1
-    - 0
-    push_pink_block_right:
-    - push_object
-    - block_pink
-    - 0.1
-    - 0
-    push_pink_block_left:
-    - push_object
-    - block_pink
-    - -0.1
-    - 0
-    move_slider_left:
-    - move_door_rel
-    - base__slide
-    - 0.15
-    move_slider_right:
-    - move_door_rel
-    - base__slide
-    - -0.15
-    open_drawer:
-    - move_door_rel
-    - base__drawer
-    - 0.12
-    close_drawer:
-    - move_door_rel
-    - base__drawer
-    - -0.12
-    lift_red_block_table:
-    - lift_object
-    - block_red
-    - 0.05
-    - table
-    - base_link
-    lift_red_block_slider:
-    - lift_object
-    - block_red
-    - 0.03
-    - table
-    - plank_link
-    lift_red_block_drawer:
-    - lift_object
-    - block_red
-    - 0.05
-    - table
-    - drawer_link
-    lift_blue_block_table:
-    - lift_object
-    - block_blue
-    - 0.05
-    - table
-    - base_link
-    lift_blue_block_slider:
-    - lift_object
-    - block_blue
-    - 0.03
-    - table
-    - plank_link
-    lift_blue_block_drawer:
-    - lift_object
-    - block_blue
-    - 0.05
-    - table
-    - drawer_link
-    lift_pink_block_table:
-    - lift_object
-    - block_pink
-    - 0.05
-    - table
-    - base_link
-    lift_pink_block_slider:
-    - lift_object
-    - block_pink
-    - 0.03
-    - table
-    - plank_link
-    lift_pink_block_drawer:
-    - lift_object
-    - block_pink
-    - 0.05
-    - table
-    - drawer_link
-    place_in_slider:
-    - place_object
-    - table
-    - plank_link
-    place_in_drawer:
-    - place_object
-    - table
-    - drawer_link
-    stack_block:
-    - stack_objects
-    unstack_block:
-    - unstack_objects
-    turn_on_lightbulb:
-    - toggle_light
-    - lightbulb
-    - 0
-    - 1
-    turn_off_lightbulb:
-    - toggle_light
-    - lightbulb
-    - 1
-    - 0
-    turn_on_led:
-    - toggle_light
-    - led
-    - 0
-    - 1
-    turn_off_led:
-    - toggle_light
-    - led
-    - 1
-    - 0
-    push_into_drawer:
-    - push_object_into
-    - - block_red
-      - block_blue
-      - block_pink
-    - table
-    - base_link
-    - table
-    - drawer_link
-recorder:
-  record: ${record}
-  record_fps: 30.0
-  show_fps: false
-  enable_tts: true
-seed: 0
-use_vr: true
-data_path: data
-save_dir: /home/meeso/recordings
-record: true
-load_dir: /work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-09-12/11-36-05/
-show_gui: false
-processes: 16
-max_episode_frames: 1
-save_body_infos: true
-set_static_cam: false

scale_70/training/.hydra/overrides.yaml

@@ -1,5 +0,0 @@
-- load_dir=/work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/
-- set_static_cam=false
-- processes=16
-- +scene=calvin_scene_A
-- show_gui=false

scale_70/training/ep_lens.npy

@@ -1,3 +0,0 @@
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scale_70/training/lang_huggingface_distilroberta/auto_lang_ann.npy

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-oid sha256:48fe5eae06f336b79992b708f8c88f0b0a056405e7214fa982833e8d5ad4ba65
-size 15978644

scale_70/training/lang_huggingface_mpnet/auto_lang_ann.npy

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-version https://git-lfs.github.com/spec/v1
-oid sha256:4058e180a6a771694fd04aa57212a6d9272bf89085c5a34de461e7076e7dde89
-size 15978644

scale_70/training/lang_msmarco-bert-base-dot-v5/auto_lang_ann.npy

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5536c3e8618f4c29c0dc0c02a348f02d785a52f6ed53877c25a204f661dad986
-size 15978644

scale_70/training/lang_paraphrase-MiniLM-L3-v2/auto_lang_ann.npy

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8b336682ffe5a4ae4776c4ae81c153a7c058a30a1dea0ae4f78ede83054f27d5
-size 8108180

scale_70/training/scene_info.npy

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:22305b276e5db506bd6d3d6d9b84b9d243b62a9d3b4a48ec94449b07a77e1db6
-size 408

scale_70/training/statistics.yaml

@@ -1,21 +0,0 @@
-robot_obs:
-  - _target_: calvin_agent.utils.transforms.NormalizeVector
-    mean: [0.039233, -0.118554,  0.507826,  1.079174, -0.083069,  1.579753,
-           0.054622, -0.736859,  1.017769,  1.792879, -2.099604, -0.993738,
-           1.790842,  0.586534,  0.095367]
-    std:  [0.150769, 0.1104  , 0.06253 , 2.883517, 0.126405, 0.377196,
-           0.030152, 0.334392, 0.172714, 0.240513, 0.3842  , 0.198596,
-           0.158712, 0.346865, 0.995442]
-scene_obs:
-  - _target_: calvin_agent.utils.transforms.NormalizeVector
-    mean: [0.150934,  0.119917,  0.000239,  0.042049,  0.487755,  0.47448 ,
-           0.057482, -0.088074,  0.431237,  0.046034,  0.030599,  0.027333,
-           0.062103, -0.092833,  0.430236, -0.054962,  0.019381,  0.096546,
-           0.064944, -0.093058,  0.428381,  0.024941,  0.002746, -0.031589]
-    std:  [ 0.125757, 0.09654 , 0.002148, 0.041916, 0.49985 , 0.499348,
-            0.146225, 0.119266, 0.050408, 1.430807, 0.676023, 2.017468,
-            0.142979, 0.113236, 0.049651, 1.545888, 0.3906  , 1.763569,
-            0.143077, 0.11546 , 0.050363, 1.514873, 0.431664, 1.860245]
-
-act_min_bound: [-0.432188, -0.545456,  0.293439, -3.141593, -0.811348, -3.141573, -1. ]
-act_max_bound: [0.42977 , 0.139396, 0.796262, 3.141592, 0.638583, 3.141551,        1. ]

scale_70/validation/.hydra/config.yaml

@@ -1,151 +0,0 @@
-cameras:
-  static:
-    _target_: vr_env.camera.static_camera.StaticCamera
-    name: static
-    fov: 10
-    aspect: 1
-    nearval: 0.01
-    farval: 10
-    width: 200
-    height: 200
-    look_at:
-    - -0.026242351159453392
-    - -0.0302329882979393
-    - 0.3920000493526459
-    look_from:
-    - 2.871459009488717
-    - -2.166602199425597
-    - 2.555159848480571
-    up_vector:
-    - 0.4041403970338857
-    - 0.22629790978217404
-    - 0.8862616969685161
-  gripper:
-    _target_: vr_env.camera.gripper_camera.GripperCamera
-    name: gripper
-    fov: 75
-    aspect: 1
-    nearval: 0.01
-    farval: 2
-    width: 84
-    height: 84
-  tactile:
-    _target_: vr_env.camera.tactile_sensor.TactileSensor
-    name: tactile
-    width: 120
-    height: 160
-    digit_link_ids:
-    - 10
-    - 12
-    visualize_gui: false
-    config_path: conf/digit_sensor/config_digit.yml
-load_dir: /work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/
-data_path: data
-save_dir: ???
-show_gui: false
-processes: 16
-max_episode_frames: 1
-save_body_infos: true
-set_static_cam: false
-env:
-  cameras: ${cameras}
-  show_gui: ${show_gui}
-  use_vr: false
-scene:
-  _target_: vr_env.scene.play_table_scene.PlayTableScene
-  _recursive_: false
-  name: calvin_scene_A
-  data_path: ${data_path}
-  global_scaling: 0.8
-  euler_obs: ${robot.euler_obs}
-  robot_base_position:
-  - -0.34
-  - -0.46
-  - 0.24
-  robot_base_orientation:
-  - 0
-  - 0
-  - 0
-  robot_initial_joint_positions:
-  - -1.21779206
-  - 1.03987646
-  - 2.11978261
-  - -2.34205014
-  - -0.87015947
-  - 1.64119353
-  - 0.55344866
-  surfaces:
-    table:
-    - - 0.0
-      - -0.15
-      - 0.46
-    - - 0.35
-      - -0.03
-      - 0.46
-    slider_left:
-    - - -0.32
-      - 0.05
-      - 0.46
-    - - -0.16
-      - 0.12
-      - 0.46
-    slider_right:
-    - - -0.05
-      - 0.05
-      - 0.46
-    - - 0.13
-      - 0.12
-      - 0.46
-  objects:
-    fixed_objects:
-      table:
-        file: calvin_table_A/urdf/calvin_table_A.urdf
-        initial_pos:
-        - 0
-        - 0
-        - 0
-        initial_orn:
-        - 0
-        - 0
-        - 0
-        joints:
-          base__slide:
-            initial_state: 0
-          base__drawer:
-            initial_state: 0
-        buttons:
-          base__button:
-            initial_state: 0
-            effect: led
-        switches:
-          base__switch:
-            initial_state: 0
-            effect: lightbulb
-        lights:
-          lightbulb:
-            link: light_link
-            color:
-            - 1
-            - 1
-            - 0
-            - 1
-          led:
-            link: led_link
-            color:
-            - 0
-            - 1
-            - 0
-            - 1
-    movable_objects:
-      block_red:
-        file: blocks/block_red_middle.urdf
-        initial_pos: any
-        initial_orn: any
-      block_blue:
-        file: blocks/block_blue_small.urdf
-        initial_pos: any
-        initial_orn: any
-      block_pink:
-        file: blocks/block_pink_big.urdf
-        initial_pos: any
-        initial_orn: any

scale_70/validation/.hydra/hydra.yaml

@@ -1,170 +0,0 @@
-hydra:
-  run:
-    dir: /work/dlclarge2/meeso-lfp/calvin_data/task_A_A/
-  sweep:
-    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
-    subdir: ${hydra.job.num}
-  launcher:
-    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
-  sweeper:
-    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
-    max_batch_size: null
-  help:
-    app_name: ${hydra.job.name}
-    header: '${hydra.help.app_name} is powered by Hydra.
-
-      '
-    footer: 'Powered by Hydra (https://hydra.cc)
-
-      Use --hydra-help to view Hydra specific help
-
-      '
-    template: '${hydra.help.header}
-
-      == Configuration groups ==
-
-      Compose your configuration from those groups (group=option)
-
-
-      $APP_CONFIG_GROUPS
-
-
-      == Config ==
-
-      Override anything in the config (foo.bar=value)
-
-
-      $CONFIG
-
-
-      ${hydra.help.footer}
-
-      '
-  hydra_help:
-    template: 'Hydra (${hydra.runtime.version})
-
-      See https://hydra.cc for more info.
-
-
-      == Flags ==
-
-      $FLAGS_HELP
-
-
-      == Configuration groups ==
-
-      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
-      to command line)
-
-
-      $HYDRA_CONFIG_GROUPS
-
-
-      Use ''--cfg hydra'' to Show the Hydra config.
-
-      '
-    hydra_help: ???
-  hydra_logging:
-    version: 1
-    formatters:
-      colorlog:
-        (): colorlog.ColoredFormatter
-        format: '[%(cyan)s%(asctime)s%(reset)s][%(purple)sHYDRA%(reset)s] %(message)s'
-    handlers:
-      console:
-        class: logging.StreamHandler
-        formatter: colorlog
-        stream: ext://sys.stdout
-    root:
-      level: INFO
-      handlers:
-      - console
-    disable_existing_loggers: false
-  job_logging:
-    version: 1
-    formatters:
-      simple:
-        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
-      colorlog:
-        (): colorlog.ColoredFormatter
-        format: '[%(cyan)s%(asctime)s%(reset)s][%(blue)s%(name)s%(reset)s][%(log_color)s%(levelname)s%(reset)s]
-          - %(message)s'
-        log_colors:
-          DEBUG: purple
-          INFO: green
-          WARNING: yellow
-          ERROR: red
-          CRITICAL: red
-    handlers:
-      console:
-        class: logging.StreamHandler
-        formatter: colorlog
-        stream: ext://sys.stdout
-      file:
-        class: logging.FileHandler
-        formatter: simple
-        filename: ${hydra.job.name}.log
-    root:
-      level: INFO
-      handlers:
-      - console
-      - file
-    disable_existing_loggers: false
-  env: {}
-  searchpath: []
-  callbacks: {}
-  output_subdir: .hydra
-  overrides:
-    hydra:
-    - hydra.run.dir=/work/dlclarge2/meeso-lfp/calvin_data/task_A_A/
-    task:
-    - load_dir=/work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/
-    - set_static_cam=false
-    - processes=16
-    - +scene=calvin_scene_A
-    - show_gui=false
-  job:
-    name: datarenderer
-    override_dirname: +scene=calvin_scene_A,load_dir=/work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-10-06/16-23-57/,processes=16,set_static_cam=false,show_gui=false
-    id: ???
-    num: ???
-    config_name: config_rendering
-    env_set: {}
-    env_copy: []
-    config:
-      override_dirname:
-        kv_sep: '='
-        item_sep: ','
-        exclude_keys: []
-  runtime:
-    version: 1.1.1
-    cwd: /home/meeso/VRENVCalvinRender/vr_env
-    config_sources:
-    - path: hydra.conf
-      schema: pkg
-      provider: hydra
-    - path: /home/meeso/VRENVCalvinRender/conf
-      schema: file
-      provider: main
-    - path: hydra_plugins.hydra_colorlog.conf
-      schema: pkg
-      provider: hydra-colorlog
-    - path: ''
-      schema: structured
-      provider: schema
-    choices:
-      scene: calvin_scene_A
-      cameras: static_gripper_tactile
-      cameras/cameras@cameras.tactile: tactile
-      cameras/cameras@cameras.gripper: gripper
-      cameras/cameras@cameras.static: static
-      hydra/env: default
-      hydra/callbacks: null
-      hydra/job_logging: colorlog
-      hydra/hydra_logging: colorlog
-      hydra/hydra_help: default
-      hydra/help: default
-      hydra/sweeper: basic
-      hydra/launcher: basic
-      hydra/output: default
-  verbose: false

scale_70/validation/.hydra/merged_config.yaml

@@ -1,393 +0,0 @@
-cameras:
-  static:
-    _target_: calvin_env.camera.static_camera.StaticCamera
-    name: static
-    fov: 10
-    aspect: 1
-    nearval: 0.01
-    farval: 10
-    width: 200
-    height: 200
-    look_at:
-    - -0.026242351159453392
-    - -0.0302329882979393
-    - 0.3920000493526459
-    look_from:
-    - 2.871459009488717
-    - -2.166602199425597
-    - 2.555159848480571
-    up_vector:
-    - 0.4041403970338857
-    - 0.22629790978217404
-    - 0.8862616969685161
-  gripper:
-    _target_: calvin_env.camera.gripper_camera.GripperCamera
-    name: gripper
-    fov: 75
-    aspect: 1
-    nearval: 0.01
-    farval: 2
-    width: 84
-    height: 84
-  tactile:
-    _target_: calvin_env.camera.tactile_sensor.TactileSensor
-    name: tactile
-    width: 120
-    height: 160
-    digit_link_ids:
-    - 10
-    - 12
-    visualize_gui: false
-    config_path: conf/digit_sensor/config_digit.yml
-vr_input:
-  vr_controller:
-    POSITION: 1
-    ORIENTATION: 2
-    ANALOG: 3
-    BUTTONS: 6
-    BUTTON_A: 2
-    BUTTON_B: 1
-    vr_controller_id: 3
-    gripper_orientation_offset:
-    - 0
-    - 3
-    - 3.14
-    gripper_position_offset:
-    - -0.2
-    - 0.3
-    - 0
-  _target_: calvin_env.io_utils.vr_input.VrInput
-  limit_angle:
-  - 90
-  - 0
-  - 0
-  - -1
-  visualize_vr_pos: true
-  reset_button_queue_len: 60
-env:
-  _target_: calvin_env.envs.play_table_env.PlayTableSimEnv
-  _recursive_: false
-  cameras: ${cameras}
-  seed: 0
-  bullet_time_step: 240.0
-  use_vr: false
-  show_gui: ${show_gui}
-  robot_cfg: ${robot}
-  scene_cfg: ${scene}
-  use_scene_info: false
-  use_egl: true
-  control_freq: 30
-scene:
-  _target_: calvin_env.scene.play_table_scene.PlayTableScene
-  _recursive_: false
-  data_path: ${data_path}
-  global_scaling: 0.8
-  euler_obs: ${robot.euler_obs}
-  robot_base_position:
-  - -0.34
-  - -0.46
-  - 0.24
-  robot_base_orientation:
-  - 0
-  - 0
-  - 0
-  robot_initial_joint_positions:
-  - -1.21779206
-  - 1.03987646
-  - 2.11978261
-  - -2.34205014
-  - -0.87015947
-  - 1.64119353
-  - 0.55344866
-  surfaces:
-    table:
-    - - 0.0
-      - -0.15
-      - 0.46
-    - - 0.35
-      - -0.03
-      - 0.46
-    slider_left:
-    - - -0.32
-      - 0.05
-      - 0.46
-    - - -0.16
-      - 0.12
-      - 0.46
-    slider_right:
-    - - -0.05
-      - 0.05
-      - 0.46
-    - - 0.13
-      - 0.12
-      - 0.46
-  objects:
-    fixed_objects:
-      table:
-        file: calvin_table_D/urdf/calvin_table_D.urdf
-        initial_pos:
-        - 0
-        - 0
-        - 0
-        initial_orn:
-        - 0
-        - 0
-        - 0
-        joints:
-          base__slide:
-            initial_state: 0
-          base__drawer:
-            initial_state: 0
-        buttons:
-          base__button:
-            initial_state: 0
-            effect: led
-        switches:
-          base__switch:
-            initial_state: 0
-            effect: lightbulb
-        lights:
-          lightbulb:
-            link: light_link
-            color:
-            - 1
-            - 1
-            - 0
-            - 1
-          led:
-            link: led_link
-            color:
-            - 0
-            - 1
-            - 0
-            - 1
-    movable_objects:
-      block_red:
-        file: blocks/block_red_middle.urdf
-        initial_pos: any
-        initial_orn: any
-      block_blue:
-        file: blocks/block_blue_small.urdf
-        initial_pos: any
-        initial_orn: any
-      block_pink:
-        file: blocks/block_pink_big.urdf
-        initial_pos: any
-        initial_orn: any
-  name: calvin_scene_D
-robot:
-  _target_: calvin_env.robot.robot.Robot
-  filename: franka_panda/panda_longer_finger.urdf
-  base_position: ${scene.robot_base_position}
-  base_orientation: ${scene.robot_base_orientation}
-  initial_joint_positions: ${scene.robot_initial_joint_positions}
-  max_joint_force: 200.0
-  gripper_force: 200
-  arm_joint_ids:
-  - 0
-  - 1
-  - 2
-  - 3
-  - 4
-  - 5
-  - 6
-  gripper_joint_ids:
-  - 9
-  - 11
-  gripper_joint_limits:
-  - 0
-  - 0.04
-  tcp_link_id: 15
-  end_effector_link_id: 7
-  gripper_cam_link: 12
-  use_nullspace: true
-  max_velocity: 2
-  use_ik_fast: false
-  magic_scaling_factor_pos: 1
-  magic_scaling_factor_orn: 1
-  use_target_pose: true
-  euler_obs: true
-tasks:
-  _target_: calvin_env.envs.tasks.Tasks
-  tasks:
-    rotate_red_block_right:
-    - rotate_object
-    - block_red
-    - -60
-    rotate_red_block_left:
-    - rotate_object
-    - block_red
-    - 60
-    rotate_blue_block_right:
-    - rotate_object
-    - block_blue
-    - -60
-    rotate_blue_block_left:
-    - rotate_object
-    - block_blue
-    - 60
-    rotate_pink_block_right:
-    - rotate_object
-    - block_pink
-    - -60
-    rotate_pink_block_left:
-    - rotate_object
-    - block_pink
-    - 60
-    push_red_block_right:
-    - push_object
-    - block_red
-    - 0.1
-    - 0
-    push_red_block_left:
-    - push_object
-    - block_red
-    - -0.1
-    - 0
-    push_blue_block_right:
-    - push_object
-    - block_blue
-    - 0.1
-    - 0
-    push_blue_block_left:
-    - push_object
-    - block_blue
-    - -0.1
-    - 0
-    push_pink_block_right:
-    - push_object
-    - block_pink
-    - 0.1
-    - 0
-    push_pink_block_left:
-    - push_object
-    - block_pink
-    - -0.1
-    - 0
-    move_slider_left:
-    - move_door_rel
-    - base__slide
-    - 0.15
-    move_slider_right:
-    - move_door_rel
-    - base__slide
-    - -0.15
-    open_drawer:
-    - move_door_rel
-    - base__drawer
-    - 0.12
-    close_drawer:
-    - move_door_rel
-    - base__drawer
-    - -0.12
-    lift_red_block_table:
-    - lift_object
-    - block_red
-    - 0.05
-    - table
-    - base_link
-    lift_red_block_slider:
-    - lift_object
-    - block_red
-    - 0.03
-    - table
-    - plank_link
-    lift_red_block_drawer:
-    - lift_object
-    - block_red
-    - 0.05
-    - table
-    - drawer_link
-    lift_blue_block_table:
-    - lift_object
-    - block_blue
-    - 0.05
-    - table
-    - base_link
-    lift_blue_block_slider:
-    - lift_object
-    - block_blue
-    - 0.03
-    - table
-    - plank_link
-    lift_blue_block_drawer:
-    - lift_object
-    - block_blue
-    - 0.05
-    - table
-    - drawer_link
-    lift_pink_block_table:
-    - lift_object
-    - block_pink
-    - 0.05
-    - table
-    - base_link
-    lift_pink_block_slider:
-    - lift_object
-    - block_pink
-    - 0.03
-    - table
-    - plank_link
-    lift_pink_block_drawer:
-    - lift_object
-    - block_pink
-    - 0.05
-    - table
-    - drawer_link
-    place_in_slider:
-    - place_object
-    - table
-    - plank_link
-    place_in_drawer:
-    - place_object
-    - table
-    - drawer_link
-    stack_block:
-    - stack_objects
-    unstack_block:
-    - unstack_objects
-    turn_on_lightbulb:
-    - toggle_light
-    - lightbulb
-    - 0
-    - 1
-    turn_off_lightbulb:
-    - toggle_light
-    - lightbulb
-    - 1
-    - 0
-    turn_on_led:
-    - toggle_light
-    - led
-    - 0
-    - 1
-    turn_off_led:
-    - toggle_light
-    - led
-    - 1
-    - 0
-    push_into_drawer:
-    - push_object_into
-    - - block_red
-      - block_blue
-      - block_pink
-    - table
-    - base_link
-    - table
-    - drawer_link
-recorder:
-  record: ${record}
-  record_fps: 30.0
-  show_fps: false
-  enable_tts: true
-seed: 0
-use_vr: true
-data_path: data
-save_dir: /home/meeso/recordings
-record: true
-load_dir: /work/dlclarge2/meeso-lfp/calvin_recordings/play_env_A/2021-09-12/11-36-05/
-show_gui: false
-processes: 16
-max_episode_frames: 1
-save_body_infos: true
-set_static_cam: false

scale_70/validation/.hydra/overrides.yaml

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