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Chaoyi Pan commited on
Commit
72f464b
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1 Parent(s): 7283a8a

update: re-run xhand+sharpa pipelines with warm-start IK fix on remote L40S

Browse files

After the corresponding spider fix (warm-start IK base 6-DOF to wrist
target), all 5 oakinkv2 right-hand tasks for both xhand and sharpa
robots are re-processed. Grasp success rate (mjwp_fast):

xhand: pick_spoon_bowl ✓, pour_tube ✓, stir_beaker ✓,
uncap_alcohol_burner ✓, wipe_board ✓ — 5/5 = 100%

sharpa: pick_spoon_bowl ✓, pour_tube ✓, stir_beaker ✗,
uncap_alcohol_burner ✓, wipe_board ✓ — 4/5 = 80%
stir_beaker mjwp optimizer cannot find a feasible grasp under
the heavy-contact stirring motion (pos_err≈0.11m, rot_err≈0.5).
The IK output is correct; this is an mjwp tuning / capability
limit, not a wrist orientation issue.

Also revert the experimental sharpa palm site quat changes. The
underlying IK now works with the original palm site definition.

This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. processed/oakink/assets/robots/sharpa/left.xml +1 -1
  2. processed/oakink/assets/robots/sharpa/right.xml +1 -1
  3. processed/oakinkv2/mano/right/pick_spoon_bowl/0/trajectory_keypoints.npz +1 -1
  4. processed/oakinkv2/mano/right/pick_spoon_bowl/task_info.json +2 -2
  5. processed/oakinkv2/mano/right/pour_tube/0/trajectory_keypoints.npz +1 -1
  6. processed/oakinkv2/mano/right/stir_beaker/0/trajectory_keypoints.npz +1 -1
  7. processed/oakinkv2/mano/right/stir_beaker/task_info.json +3 -3
  8. processed/oakinkv2/mano/right/uncap_alcohol_burner/0/trajectory_keypoints.npz +1 -1
  9. processed/oakinkv2/mano/right/wipe_board/0/trajectory_keypoints.npz +1 -1
  10. processed/oakinkv2/mano/right/wipe_board/task_info.json +2 -2
  11. processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/config.yaml +3 -3
  12. processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/ik_sweep/visualization_ik_wp10.0_wo20.0_fp10.0.mp4 +0 -3
  13. processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/ik_sweep/visualization_ik_wp10.0_wo20.0_fp30.0.mp4 +0 -3
  14. processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/ik_sweep/visualization_ik_wp2.0_wo5.0_fp10.0.mp4 +0 -3
  15. processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/ik_sweep/visualization_ik_wp2.0_wo5.0_fp30.0.mp4 +0 -3
  16. processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/ik_sweep/visualization_ik_wp5.0_wo10.0_fp10.0.mp4 +0 -3
  17. processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/ik_sweep/visualization_ik_wp5.0_wo5.0_fp30.0.mp4 +0 -3
  18. processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/trajectory_ikrollout.npz +1 -1
  19. processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/trajectory_kinematic.npz +1 -1
  20. processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/visualization_ik.mp4 +2 -2
  21. processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/visualization_ik.viser +2 -2
  22. processed/oakinkv2/sharpa/right/pick_spoon_bowl/scene.xml +1 -1
  23. processed/oakinkv2/sharpa/right/pick_spoon_bowl/scene_eq.xml +1 -1
  24. processed/oakinkv2/sharpa/right/pick_spoon_bowl/task_info.json +2 -2
  25. processed/oakinkv2/sharpa/right/pour_tube/0/config.yaml +3 -3
  26. processed/oakinkv2/sharpa/right/pour_tube/0/trajectory_ikrollout.npz +1 -1
  27. processed/oakinkv2/sharpa/right/pour_tube/0/trajectory_kinematic.npz +1 -1
  28. processed/oakinkv2/sharpa/right/pour_tube/0/trajectory_mjwp_fast.npz +2 -2
  29. processed/oakinkv2/sharpa/right/pour_tube/0/visualization_ik.mp4 +2 -2
  30. processed/oakinkv2/sharpa/right/pour_tube/0/visualization_ik.viser +2 -2
  31. processed/oakinkv2/sharpa/right/pour_tube/0/visualization_mjwp_fast.mp4 +2 -2
  32. processed/oakinkv2/sharpa/right/pour_tube/scene.xml +1 -1
  33. processed/oakinkv2/sharpa/right/pour_tube/scene_eq.xml +1 -1
  34. processed/oakinkv2/sharpa/right/stir_beaker/0/config.yaml +3 -3
  35. processed/oakinkv2/sharpa/right/stir_beaker/0/trajectory_ikrollout.npz +1 -1
  36. processed/oakinkv2/sharpa/right/stir_beaker/0/trajectory_kinematic.npz +1 -1
  37. processed/oakinkv2/sharpa/right/{pick_spoon_bowl/0/ik_sweep/visualization_ik_wp0.3_wo0.3_fp10.0.mp4 → stir_beaker/0/trajectory_mjwp_fast.npz} +2 -2
  38. processed/oakinkv2/sharpa/right/stir_beaker/0/visualization_ik.mp4 +2 -2
  39. processed/oakinkv2/sharpa/right/stir_beaker/0/visualization_ik.viser +2 -2
  40. processed/oakinkv2/sharpa/right/{pick_spoon_bowl/0/ik_sweep/visualization_ik_wp0.3_wo3.0_fp10.0.mp4 → stir_beaker/0/visualization_mjwp_fast.mp4} +2 -2
  41. processed/oakinkv2/sharpa/right/{pick_spoon_bowl/0/ik_sweep/visualization_ik_wp0.3_wo3.0_fp30.0.mp4 → stir_beaker/0/visualization_mjwp_fast.viser} +2 -2
  42. processed/oakinkv2/sharpa/right/stir_beaker/scene.xml +1 -1
  43. processed/oakinkv2/sharpa/right/stir_beaker/scene_eq.xml +1 -1
  44. processed/oakinkv2/sharpa/right/stir_beaker/task_info.json +3 -3
  45. processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/config.yaml +3 -3
  46. processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/trajectory_ikrollout.npz +1 -1
  47. processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/trajectory_kinematic.npz +1 -1
  48. processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/trajectory_mjwp_fast.npz +1 -1
  49. processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/visualization_ik.mp4 +2 -2
  50. processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/visualization_ik.viser +2 -2
processed/oakink/assets/robots/sharpa/left.xml CHANGED
@@ -87,7 +87,7 @@
87
  <geom name="collision_hand_left_palm_0" type="box" size="0.02 0.04 0.04" pos="0 0 0.05" group="3" rgba="0 1 0 1" />
88
 
89
  <!-- Tracking site for palm (Z-axis forward, X-axis down) -->
90
- <site name="left_palm" pos="0 0 0.05" quat="0 1 1 0" size="0.01" type="sphere" rgba="1 1 0 1" group="3" />
91
 
92
  <!-- Thumb -->
93
  <body name="left_thumb_CMC_VL" pos="0.01 -0.026 0.0214" quat="0.707105 0 0 -0.707108">
 
87
  <geom name="collision_hand_left_palm_0" type="box" size="0.02 0.04 0.04" pos="0 0 0.05" group="3" rgba="0 1 0 1" />
88
 
89
  <!-- Tracking site for palm (Z-axis forward, X-axis down) -->
90
+ <site name="left_palm" pos="0 0 0.05" euler="0 0 0" size="0.01" type="sphere" rgba="1 1 0 1" group="3" />
91
 
92
  <!-- Thumb -->
93
  <body name="left_thumb_CMC_VL" pos="0.01 -0.026 0.0214" quat="0.707105 0 0 -0.707108">
processed/oakink/assets/robots/sharpa/right.xml CHANGED
@@ -87,7 +87,7 @@
87
  <geom name="collision_hand_right_palm_0" type="box" size="0.02 0.04 0.04" pos="0 0 0.05" group="3" rgba="0 1 0 1" />
88
 
89
  <!-- Tracking site for palm (Z-axis forward, X-axis down) -->
90
- <site name="right_palm" pos="0 0 0.05" quat="0 1 1 0" size="0.01" type="sphere" rgba="1 1 0 1" group="3" />
91
 
92
  <!-- Thumb -->
93
  <body name="right_thumb_CMC_VL" pos="0.01 0.026 0.0214" quat="-2.59734e-06 0.707105 0.707108 -2.59735e-06">
 
87
  <geom name="collision_hand_right_palm_0" type="box" size="0.02 0.04 0.04" pos="0 0 0.05" group="3" rgba="0 1 0 1" />
88
 
89
  <!-- Tracking site for palm (Z-axis forward, X-axis down) -->
90
+ <site name="right_palm" pos="0 0 0.05" euler="0 0 0" size="0.01" type="sphere" rgba="1 1 0 1" group="3" />
91
 
92
  <!-- Thumb -->
93
  <body name="right_thumb_CMC_VL" pos="0.01 0.026 0.0214" quat="-2.59734e-06 0.707105 0.707108 -2.59735e-06">
processed/oakinkv2/mano/right/pick_spoon_bowl/0/trajectory_keypoints.npz CHANGED
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processed/oakinkv2/mano/right/pick_spoon_bowl/task_info.json CHANGED
@@ -22,10 +22,10 @@
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  "scene_lowest_world_z": 0.006876816536960102,
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  "object_descends_from_frame0": false,
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- "right_plate_top_world_z": -0.04294488496879627,
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  "floor_well_below_offset": 0.05,
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  "right_object_convex_dir": "processed/oakinkv2/assets/objects/O02_0030_00002/convex"
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processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/config.yaml CHANGED
@@ -5,8 +5,8 @@ seed: 0
5
  dataset_dir: example_datasets
6
  dataset_name: oakinkv2
7
  data_id: 0
8
- model_path: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/../scene.xml
9
- data_path: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/trajectory_kinematic.npz
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  load_config_path: ''
11
  simulator: mjwp
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  device: cuda:0
@@ -120,4 +120,4 @@ nv: 34
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  nu: 28
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  npair: 257
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  beta_traj: 0.31622776601683794
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- output_dir: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0
 
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  dataset_dir: example_datasets
6
  dataset_name: oakinkv2
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  data_id: 0
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+ model_path: /home/ubuntu/spider/example_datasets/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/../scene.xml
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  simulator: mjwp
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  device: cuda:0
 
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  nu: 28
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  npair: 257
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  beta_traj: 0.31622776601683794
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+ output_dir: /home/ubuntu/spider/example_datasets/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0
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  <joint name="right_thumb_CMC_FE" pos="0 0 0" axis="0 0 1" range="-0.1745 1.9199"/>
 
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@@ -72,7 +72,7 @@
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  <geom name="right_hand_C_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_hand_C_MC"/>
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  <geom name="collision_hand_right_palm_0" size="0.02 0.04 0.04" pos="0 0 0.05" type="box" group="3" rgba="0 1 0 1"/>
73
+ <site name="right_palm" pos="0 0 0.05" quat="0 0.707107 0.707107 0" rgba="1 1 0 1"/>
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  <body name="right_thumb_CMC_VL" pos="0.01 0.026 0.0214" quat="-2.59734e-06 0.707105 0.707108 -2.59735e-06">
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76
  <joint name="right_thumb_CMC_FE" pos="0 0 0" axis="0 0 1" range="-0.1745 1.9199"/>
processed/oakinkv2/sharpa/right/stir_beaker/scene_eq.xml CHANGED
@@ -70,7 +70,7 @@
70
  <geom name="right_hand_C_MC_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_hand_C_MC_visual"/>
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  <geom name="right_hand_C_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_hand_C_MC"/>
72
  <geom name="collision_hand_right_palm_0" size="0.02 0.04 0.04" pos="0 0 0.05" type="box" group="3" rgba="0 1 0 1"/>
73
- <site name="right_palm" pos="0 0 0.05" rgba="1 1 0 1"/>
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75
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76
  <joint name="right_thumb_CMC_FE" pos="0 0 0" axis="0 0 1" range="-0.1745 1.9199"/>
 
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  <geom name="right_hand_C_MC_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_hand_C_MC_visual"/>
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  <geom name="right_hand_C_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_hand_C_MC"/>
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  <body name="right_thumb_CMC_VL" pos="0.01 0.026 0.0214" quat="-2.59734e-06 0.707105 0.707108 -2.59735e-06">
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  <inertial pos="-0.00065 0.0002 0" quat="0.434754 0.557664 -0.434754 0.557664" mass="0.0025" diaginertia="2.6e-07 2.12661e-07 1.34339e-07"/>
76
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processed/oakinkv2/sharpa/right/stir_beaker/task_info.json CHANGED
@@ -22,10 +22,10 @@
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  "floor_well_below_offset": 0.05,
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processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/config.yaml CHANGED
@@ -5,8 +5,8 @@ seed: 0
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- model_path: /local/home/chaoyip/spider/example_datasets/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/../scene.xml
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@@ -120,4 +120,4 @@ nv: 34
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