Update xhand bimanual p36-tea retargeting and IK data

processed/gigahand/xhand/bimanual/p36-tea/0/config.yaml

@@ -5,18 +5,19 @@ seed: 0
 dataset_dir: example_datasets
 dataset_name: gigahand
 data_id: 0
-model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/xhand/bimanual/p36-tea/0/../scene.xml
-data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/xhand/bimanual/p36-tea/0/trajectory_kinematic.npz
+model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/xhand/bimanual/p36-tea/0/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/gigahand/xhand/bimanual/p36-tea/0/trajectory_kinematic.npz
+load_config_path: ''
 simulator: mjwp
 device: cuda:0
 sim_dt: 0.01
-ctrl_dt: 0.4
+ctrl_dt: 1.5
 ref_dt: 0.02
 render_dt: 0.02
-horizon: 1.6
-knot_dt: 0.4
+horizon: 3.0
+knot_dt: 0.5
 max_sim_steps: 676
-nconmax_per_env: 100
+nconmax_per_env: 120
 njmax_per_env: 350
 num_dyn: 1
 num_dr: 1
@@ -28,25 +29,50 @@ xy_offset_range:
 - 0.005
 perturb_force: 0.0
 perturb_torque: 0.0
+contact_guidance: false
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 0
+object_actuator_ids: []
+object_actuator_names: []
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.1
+init_rot_actuator_bias: 0.1
+guidance_decay_ratio: 0.5
+gibbs_sampling: false
 num_samples: 1024
 temperature: 1.0
 max_num_iterations: 32
 improvement_threshold: 0.01
-improvement_check_steps: 1
+improvement_check_steps: 2
 terminate_resample: false
 object_pos_threshold: 0.1
 object_rot_threshold: 0.3
 base_pos_threshold: 0.5
 base_rot_threshold: 0.4
 use_torch_compile: true
-first_ctrl_noise_scale: 0.5
-last_ctrl_noise_scale: 1.0
-final_noise_scale: 0.1
+first_ctrl_noise_scale: 1.0
+last_ctrl_noise_scale: 2.0
+final_noise_scale: 0.01
 exploit_ratio: 0.01
 exploit_noise_scale: 0.01
 joint_noise_scale: 0.03
 pos_noise_scale: 0.03
 rot_noise_scale: 0.01
+use_rl_reward: false
 base_pos_rew_scale: 0.1
 base_rot_rew_scale: 0.03
 joint_rew_scale: 0.003
@@ -57,6 +83,7 @@ terminal_rew_scale: 1.0
 contact_rew_scale: 0.0
 show_viewer: true
 viewer: mujoco-rerun
+wait_on_finish: true
 rerun_spawn: true
 save_video: true
 save_info: true
@@ -79,14 +106,21 @@ trace_site_ids:
 - 25
 - 28
 - 31
-horizon_steps: 160
-knot_steps: 40
+contact_order: []
+hand_contact_site_ids: []
+right_contact_indices: []
+left_contact_indices: []
+right_pos_ctrl_ids: []
+left_pos_ctrl_ids: []
+contact_len: 0
+horizon_steps: 300
+knot_steps: 50
 ref_steps: 2
-ctrl_steps: 40
+ctrl_steps: 150
 nq_obj: 14
 nq: 50
 nv: 48
 nu: 36
 npair: 526
-beta_traj: 0.930572040929699
-output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/xhand/bimanual/p36-tea/0
+beta_traj: 0.8659643233600653
+output_dir: /home/ubuntu/spider/example_datasets/processed/gigahand/xhand/bimanual/p36-tea/0

processed/gigahand/xhand/bimanual/p36-tea/0/trajectory_ikrollout.npz

@@ -1,3 +1,3 @@
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processed/gigahand/xhand/bimanual/p36-tea/0/trajectory_kinematic.npz

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processed/gigahand/xhand/bimanual/p36-tea/0/trajectory_mjwp.npz

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processed/gigahand/xhand/bimanual/p36-tea/0/visualization_ik.mp4

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processed/gigahand/xhand/bimanual/p36-tea/0/visualization_mjwp.mp4

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processed/gigahand/xhand/bimanual/p36-tea/1/config.yaml

@@ -1,22 +1,23 @@
 robot_type: xhand
 embodiment_type: bimanual
 task: p36-tea
-seed: 1
+seed: 0
 dataset_dir: example_datasets
 dataset_name: gigahand
 data_id: 1
 model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/xhand/bimanual/p36-tea/1/../scene.xml
 data_path: /home/ubuntu/spider/example_datasets/processed/gigahand/xhand/bimanual/p36-tea/1/trajectory_kinematic.npz
+load_config_path: ''
 simulator: mjwp
 device: cuda:0
 sim_dt: 0.01
-ctrl_dt: 0.4
+ctrl_dt: 1.5
 ref_dt: 0.02
 render_dt: 0.02
-horizon: 1.6
-knot_dt: 0.4
+horizon: 3.0
+knot_dt: 0.5
 max_sim_steps: 676
-nconmax_per_env: 100
+nconmax_per_env: 120
 njmax_per_env: 350
 num_dyn: 1
 num_dr: 1
@@ -28,25 +29,50 @@ xy_offset_range:
 - 0.005
 perturb_force: 0.0
 perturb_torque: 0.0
+contact_guidance: false
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 0
+object_actuator_ids: []
+object_actuator_names: []
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.1
+init_rot_actuator_bias: 0.1
+guidance_decay_ratio: 0.5
+gibbs_sampling: false
 num_samples: 1024
 temperature: 1.0
 max_num_iterations: 32
 improvement_threshold: 0.01
-improvement_check_steps: 1
+improvement_check_steps: 2
 terminate_resample: false
 object_pos_threshold: 0.1
 object_rot_threshold: 0.3
 base_pos_threshold: 0.5
 base_rot_threshold: 0.4
 use_torch_compile: true
-first_ctrl_noise_scale: 0.5
-last_ctrl_noise_scale: 1.0
-final_noise_scale: 0.1
+first_ctrl_noise_scale: 1.0
+last_ctrl_noise_scale: 2.0
+final_noise_scale: 0.01
 exploit_ratio: 0.01
 exploit_noise_scale: 0.01
 joint_noise_scale: 0.03
 pos_noise_scale: 0.03
 rot_noise_scale: 0.01
+use_rl_reward: false
 base_pos_rew_scale: 0.1
 base_rot_rew_scale: 0.03
 joint_rew_scale: 0.003
@@ -56,7 +82,8 @@ vel_rew_scale: 0.0001
 terminal_rew_scale: 1.0
 contact_rew_scale: 0.0
 show_viewer: true
-viewer: ''
+viewer: mujoco-rerun
+wait_on_finish: true
 rerun_spawn: true
 save_video: true
 save_info: true
@@ -79,14 +106,21 @@ trace_site_ids:
 - 25
 - 28
 - 31
-horizon_steps: 160
-knot_steps: 40
+contact_order: []
+hand_contact_site_ids: []
+right_contact_indices: []
+left_contact_indices: []
+right_pos_ctrl_ids: []
+left_pos_ctrl_ids: []
+contact_len: 0
+horizon_steps: 300
+knot_steps: 50
 ref_steps: 2
-ctrl_steps: 40
+ctrl_steps: 150
 nq_obj: 14
 nq: 50
 nv: 48
 nu: 36
 npair: 526
-beta_traj: 0.930572040929699
+beta_traj: 0.8659643233600653
 output_dir: /home/ubuntu/spider/example_datasets/processed/gigahand/xhand/bimanual/p36-tea/1

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processed/gigahand/xhand/bimanual/p36-tea/1/trajectory_mjwp.npz

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processed/gigahand/xhand/bimanual/p36-tea/1/visualization_mjwp.mp4

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processed/gigahand/xhand/bimanual/p36-tea/2/trajectory_kinematic.npz

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processed/gigahand/xhand/bimanual/p36-tea/3/trajectory_kinematic.npz

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processed/gigahand/xhand/bimanual/p36-tea/4/trajectory_kinematic.npz

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