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training/.hydra/config.yaml

@@ -0,0 +1,151 @@
+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

training/.hydra/hydra.yaml

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+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

training/.hydra/merged_config.yaml

@@ -0,0 +1,393 @@
+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

training/.hydra/overrides.yaml

@@ -0,0 +1,5 @@
+- 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

training/episode_0358499.npz

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training/statistics.yaml

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+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. ]

validation/.hydra/config.yaml

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+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

validation/.hydra/hydra.yaml

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+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

validation/.hydra/merged_config.yaml

@@ -0,0 +1,393 @@
+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

validation/.hydra/overrides.yaml

@@ -0,0 +1,5 @@
+- 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

validation/statistics.yaml

@@ -0,0 +1,21 @@
+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. ]