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@@ -53,3 +53,23 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 214032/eval_video/1_eval.mp4 filter=lfs diff=lfs merge=lfs -text
 214032/eval_video/2_eval.mp4 filter=lfs diff=lfs merge=lfs -text
 214032/eval_video/4_eval.mp4 filter=lfs diff=lfs merge=lfs -text
+205324/eval_video/0_eval.mp4 filter=lfs diff=lfs merge=lfs -text
+205324/wandb/run-20241210_205330-52nddla7/files/media/videos/eval/video_0_ff4edecb6a17ea039fbf.mp4 filter=lfs diff=lfs merge=lfs -text
+210407/eval_video/0_eval.mp4 filter=lfs diff=lfs merge=lfs -text
+210407/wandb/run-20241210_210414-ob7chcle/files/media/videos/eval/0_eval_0_242331cb3a64f66021df.mp4 filter=lfs diff=lfs merge=lfs -text
+214032/episode_rosbags/episode_3_2024-12-10-21-43-33.rrd filter=lfs diff=lfs merge=lfs -text
+210732/wandb/run-20241210_210738-r4m9fzdi/run-r4m9fzdi.wandb filter=lfs diff=lfs merge=lfs -text
+210732/wandb/run-20241210_210738-r4m9fzdi/files/media/videos/eval/3_eval_3_49c63cb7694dee4c930a.mp4 filter=lfs diff=lfs merge=lfs -text
+210732/wandb/run-20241210_210738-r4m9fzdi/files/media/videos/eval/2_eval_2_b17305aedebc761a4898.mp4 filter=lfs diff=lfs merge=lfs -text
+210732/wandb/run-20241210_210738-r4m9fzdi/files/media/videos/eval/0_eval_0_daf03ac4df433b6afa80.mp4 filter=lfs diff=lfs merge=lfs -text
+210732/wandb/run-20241210_210738-r4m9fzdi/files/media/videos/eval/1_eval_1_fa72f11620e871983c64.mp4 filter=lfs diff=lfs merge=lfs -text
+210732/wandb/run-20241210_210738-r4m9fzdi/files/media/videos/eval/4_eval_4_a244b0b09dc15d2eae1c.mp4 filter=lfs diff=lfs merge=lfs -text
+210732/episode_rosbags/episode_0_2024-12-10-21-08-09.rrd filter=lfs diff=lfs merge=lfs -text
+210732/episode_rosbags/episode_4_2024-12-10-21-11-07.rrd filter=lfs diff=lfs merge=lfs -text
+210732/eval_video/3_eval.mp4 filter=lfs diff=lfs merge=lfs -text
+210732/episode_rosbags/episode_2_2024-12-10-21-09-45.rrd filter=lfs diff=lfs merge=lfs -text
+210732/eval_video/1_eval.mp4 filter=lfs diff=lfs merge=lfs -text
+210732/eval_video/4_eval.mp4 filter=lfs diff=lfs merge=lfs -text
+210732/eval_video/0_eval.mp4 filter=lfs diff=lfs merge=lfs -text
+210732/eval_video/2_eval.mp4 filter=lfs diff=lfs merge=lfs -text
+210732/episode_rosbags/episode_1_2024-12-10-21-09-04.rrd filter=lfs diff=lfs merge=lfs -text

204951/.hydra/config.yaml

@@ -0,0 +1,349 @@
+root_dir: /home/${oc.env:USER}/fish_leon
+nstep: 3
+seed: 41
+dataset_shuffle_seed: ${seed}
+device: cuda
+save_video: true
+save_buffer: true
+use_tb: true
+baseline: false
+use_wandb: true
+eval: true
+process_contact_features: ${eval}
+obs_type: pixels
+use_color: true
+use_depth: true
+use_masks: false
+mask_list:
+- EE_obj_mask
+mask_representation: channels
+crop_hw:
+- 144
+- 144
+crop_down_offset: 48
+color_crop_type: null
+depth_crop_type: null
+segmask_crop_type: null
+add_crop_binary_mask: false
+add_coord_conv_map: false
+use_context_color: false
+use_context_depth: false
+use_context_segmask: false
+context_color_crop_type: null
+context_depth_crop_type: null
+context_segmask_crop_type: null
+context_add_crop_binary_mask: false
+context_add_coord_conv_map: false
+use_contact_map: false
+use_sdf_maps: false
+use_normals_maps: false
+which_objects: both
+max_contact_prob: 0.1
+max_depth: 2.0
+grasped_dtc_max_value: 0.105
+env_dtc_max_value: 0.425
+grasped_normals_mask_max_dtc_value: 0.105
+env_normals_mask_max_dtc_value: 0.425
+clamp_dtc: true
+dtc_adaptive_normalization: false
+mask_normals_within_sdf: true
+adaptive_normals_mask: true
+learnable_contact_preprocess_params: false
+contact_model_name: local_multitask_outhd64all_home_crop_h144w144d48_ctxt_seed_183386_epoch_9
+contact_estimation_model_ckpt_path: ~/fish_leon/contact_estimation/artifacts/175604_2/checkpoints/epoch=09-val_loss=0.00.ckpt
+num_eval: 5
+debug_timestamps: false
+open_loop: false
+action_trajectories: true
+stop_after_action: false
+interpolation_frequency: 25
+policy_frequency: 5
+wait_for_new_camera_frames: true
+random_start: false
+eval_starts: ${root_dir}/FISH/eval_starts/${suite.name}_${obs_type}/${task_name}
+train_demo_idxs_list_or_num: null
+num_valid_demos: null
+val_num_groups: 3
+name_of_expert_demo: 192_240x320_multiobj_twodim_recovery_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act
+expert_dataset_dirpath: ${root_dir}/FISH/expert_demos/${suite.name}/${task_name}/${name_of_expert_demo}
+expert_dataset: ${expert_dataset_dirpath}/demos.zarr
+action_key: ${oc.if_else:${action_trajectories}, 'action_trajectory_${interpolation_frequency}hz',
+  'action'}
+semantic_demo_grouping_name: semantic_demo_grouping.yaml
+semantic_demo_grouping: ${expert_dataset_dirpath}/${semantic_demo_grouping_name}
+expert_dataset_config: ${expert_dataset_dirpath}/demo_config.yaml
+bc_regularize: false
+bc_weight_type: qfilter
+load_checkpoint: ${agent.load_checkpoint}
+wandb_run_id: '265626'
+true_action_history: true
+wandb_notes: null
+checkpoint_epoch: 12000
+load_residual_weight: false
+checkpoint_root_dir: /home/${oc.env:USER}/fish_leon/FISH
+checkpoint_weight_dir: ${checkpoint_root_dir}/exp_local/${suite.name}_${obs_type}/${task_name}/${wandb_run_id}
+residual_weight: ${root_dir}/FISH/weights/${suite.name}_${obs_type}/${task_name}/weight.pt
+experiment_dir: ./exp_local/${suite.name}_${obs_type}/${task_name}/${wandb_run_id}
+agent:
+  _target_: agent.diffusion_policy.DiffusionPolicyAgent
+  name: diffusion_policy
+  load_checkpoint: ${eval}
+  device: ${device}
+  n_obs_steps: ${.config.policy_cfg.n_obs_steps}
+  suite_name: ${suite.name}
+  obs_type: ${obs_type}
+  enable_arm: ${eval}
+  enable_camera: ${eval}
+  use_tb: ${use_tb}
+  desired_image_shape:
+  - 13
+  - 180
+  - 240
+  orig_cam_shape:
+  - 3
+  - 240
+  - 320
+  config:
+    _target_: agent.diffusion_policy.DiffusionPolicyAgentConfig
+    compile: false
+    device: ${device}
+    cam_resize_shape: ${agent.desired_image_shape}
+    orig_cam_shape: ${agent.orig_cam_shape}
+    policy_frequency: ${policy_frequency}
+    interpolation_frequency: ${interpolation_frequency}
+    policy_cfg:
+      _target_: lerobot.common.policies.diffusion.configuration_diffusion.DiffusionConfig
+      n_obs_steps: 1
+      horizon: 36
+      n_action_steps: ${agent.config.policy_cfg.horizon}
+      input_shapes:
+        observation.image: ${agent.config.cam_resize_shape}
+        context_observation.image: ${agent.config.cam_resize_shape}
+        observation.state:
+        - 8
+        observation.action_history:
+        - 7
+      output_shapes:
+        action:
+        - 7
+      input_normalization_modes:
+        observation.image: mean_std
+        observation.state: min_max
+        observation.action_history: min_max
+      output_normalization_modes:
+        action: min_max
+      vision_backbone: resnet18
+      pretrained_backbone_weights: null
+      transforms:
+      - _target_: torchaug.transforms.RandomAffine
+        degrees:
+        - -5
+        - 5
+        translate:
+        - 0.05
+        - 0.05
+        batch_transform: true
+        num_chunks: -1
+        batch_inplace: true
+      - _target_: torchaug.transforms.RandomColorJitter
+        brightness: 0.3
+        contrast: 0.4
+        saturation: 0.5
+        hue: 0.08
+        batch_transform: true
+        num_chunks: -1
+        batch_inplace: true
+      use_group_norm: true
+      spatial_softmax_num_keypoints: 32
+      action_history_encoder_config:
+        _target_: lerobot.common.policies.diffusion.configuration_diffusion.Unet1dEncoderConfig
+        in_channels: 7
+        out_channels: 32
+        history_length: ${agent.config.policy_cfg.n_action_steps}
+        kernel_size: ${agent.config.policy_cfg.kernel_size}
+        downsample_kernel_size: 3
+        downsample_stride: 2
+        downsample_padding: 1
+      down_dims:
+      - 256
+      - 512
+      - 1024
+      kernel_size: 5
+      n_groups: 8
+      diffusion_step_embed_dim: 128
+      use_film_scale_modulation: true
+      noise_scheduler_type: DDIM
+      beta_schedule: squaredcos_cap_v2
+      beta_start: 0.0001
+      beta_end: 0.02
+      prediction_type: epsilon
+      clip_sample: true
+      clip_sample_range: 1.0
+      num_train_timesteps: 50
+      num_inference_steps: 10
+      do_mask_loss_for_padding: false
+    train_cfg:
+      _target_: utils.TrainConfig
+      lr: 0.0001
+      lr_scheduler: cosine
+      lr_warmup_steps: 500
+      adam_betas:
+      - 0.95
+      - 0.999
+      adam_eps: 1.0e-08
+      adam_weight_decay: 1.0e-06
+      grad_clip_norm: 10
+      offline_steps: ${num_train_frames_diffusion}
+      use_amp: true
+    observation_cfg:
+      _target_: agent.encoder.VisualFeatureSet
+      use_depth: ${use_depth}
+      use_color: ${use_color}
+      mask_input_dict:
+        _target_: agent.encoder.MaskInputDict
+        enable: ${use_masks}
+        representation: ${mask_representation}
+        mask_list: ${mask_list}
+      crop_input_config:
+        _target_: agent.encoder.CropInputConfig
+        color_crop_type: ${color_crop_type}
+        depth_crop_type: ${depth_crop_type}
+        segmask_crop_type: ${segmask_crop_type}
+        crop_hw: ${crop_hw}
+        crop_down_offset: ${crop_down_offset}
+        add_crop_binary_mask: ${add_crop_binary_mask}
+        add_coord_conv_map: ${add_coord_conv_map}
+      context_input_config:
+        _target_: agent.encoder.ContextInputConfig
+        use_color: ${use_context_color}
+        use_depth: ${use_context_depth}
+        mask_input_dict:
+          _target_: agent.encoder.MaskInputDict
+          enable: ${use_context_segmask}
+          representation: ${mask_representation}
+          mask_list: ${mask_list}
+        crop_input_config:
+          _target_: agent.encoder.CropInputConfig
+          color_crop_type: ${context_color_crop_type}
+          depth_crop_type: ${context_depth_crop_type}
+          segmask_crop_type: ${context_segmask_crop_type}
+          crop_hw: ${crop_hw}
+          crop_down_offset: ${crop_down_offset}
+          add_crop_binary_mask: ${context_add_crop_binary_mask}
+          add_coord_conv_map: ${context_add_coord_conv_map}
+      mask_soft_approx_scheduler_config:
+        _target_: agent.encoder.MaskSoftApproxSchedulerConfig
+        num_steps: 40000
+        initial_value: 10.0
+        final_value: 1000.0
+        interpolation_scheme: constant
+      use_contact_map: ${use_contact_map}
+      use_sdf_maps: ${use_sdf_maps}
+      use_normals_maps: ${use_normals_maps}
+      which_objects: ${which_objects}
+      grasped_dtc_max_value: ${grasped_dtc_max_value}
+      env_dtc_max_value: ${env_dtc_max_value}
+      grasped_normals_mask_max_dtc_value: ${grasped_normals_mask_max_dtc_value}
+      env_normals_mask_max_dtc_value: ${env_normals_mask_max_dtc_value}
+      clamp_dtc: ${clamp_dtc}
+      max_contact_prob: ${max_contact_prob}
+      mask_normals_within_sdf: ${mask_normals_within_sdf}
+      dtc_adaptive_normalization: ${dtc_adaptive_normalization}
+      adaptive_normals_mask: ${adaptive_normals_mask}
+      max_depth: ${max_depth}
+      image_shape: ${agent.desired_image_shape}
+      learnable_contact_preprocess_params: ${learnable_contact_preprocess_params}
+      learning_rate: ${agent.config.train_cfg.lr}
+      weight_decay: 0.0
+      contact_model_name: ${contact_model_name}
+      zero_centered: false
+suite:
+  suite: frankagym
+  name: frankagym
+  frame_stack: ${agent.n_obs_steps}
+  action_repeat: 1
+  discount: 0.99
+  hidden_dim: 1024
+  num_train_frames: 2010
+  num_seed_frames: 260
+  num_train_epochs: 5000
+  validate_every_epochs: 100
+  validate_diffusion_on_action_loss_every_epochs: 500
+  train_eval_diffusion_on_action_loss_every_epochs: 500
+  check_topk_every_epochs: 10
+  save_snapshot_every_epochs: 5000
+  eval_every_frames: 2000
+  num_eval_episodes: 5
+  save_snapshot: true
+  wait_for_user_to_start_episode: true
+  task_make_fn:
+    _target_: suite.frankagym.make
+    name: ${task_name}
+    height: 240
+    width: 320
+    frame_stack: ${suite.frame_stack}
+    action_repeat: ${suite.action_repeat}
+    seed: ${seed}
+    enable_arm: ${agent.enable_arm}
+    enable_gripper: ${enable_gripper}
+    start_with_gripper_open: ${start_with_gripper_open}
+    enable_camera: ${agent.enable_camera}
+    path_to_depth_extrinsics: ${path_to_depth_extrinsics}
+    contact_estimation_model_ckpt_path: ${contact_estimation_model_ckpt_path}
+    x_limit: ${x_limit}
+    y_limit: ${y_limit}
+    z_limit: ${z_limit}
+    device: ${device}
+    interpolation_frequency: ${interpolation_frequency}
+    policy_frequency: ${policy_frequency}
+    debug_timestamps: ${debug_timestamps}
+    stop_after_action: ${stop_after_action}
+    open_loop: ${open_loop}
+    wait_for_new_camera_frames: ${wait_for_new_camera_frames}
+    action_key: ${action_key}
+    action_trajectory_horizon: ${agent.config.policy_cfg.horizon}
+    action_trajectories: ${action_trajectories}
+    path_to_zarr_dataset: ${expert_dataset}
+    agent_policy_cfg: ???
+    true_action_history: ${true_action_history}
+num_train_frames_bc: 50000
+num_train_frames_drq: 1100000
+stddev_schedule_drq: linear(1.0,0.1,100000)
+task_name: FrankaInsertion-v1
+num_train_frames_vinn: 25000
+num_train_frames_diffusion: 1000000
+num_train_epochs_bc: 5000
+num_train_epochs_diffusion: 5000
+validate_every_epochs_bc: 5
+validate_every_epochs_diffusion: 25
+validate_diffusion_on_action_loss_every_epochs: 50
+train_eval_diffusion_on_action_loss_every_epochs: 500
+check_topk_every_epochs: 5
+check_topk_every_epochs_diffusion: ${validate_diffusion_on_action_loss_every_epochs}
+save_snapshot_every_epochs_diffusion: 5000
+x_limit:
+- 0.2
+- 0.7
+y_limit:
+- -0.4
+- 0.4
+z_limit:
+- -0.05
+- 0.55
+home_displacement:
+- 0.55
+- 0.0
+- 0.55
+- 180.0
+- 0.0
+- 0.0
+enable_gripper: true
+start_with_gripper_open: true
+offset_mask:
+- 1
+- 1
+- 1
+- 1
+- 1
+- 1
+path_to_depth_extrinsics: ~/fish_leon/FISH/cfgs/camera_poses/camera_poses_L515/20240904-122305/color_tf_world.npy

204951/.hydra/hydra.yaml

@@ -0,0 +1,169 @@
+hydra:
+  run:
+    dir: ${experiment_dir}/${now:%H%M%S}
+  sweep:
+    dir: ${experiment_dir}/${now:%H%M%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    submitit_folder: ${experiment_dir}/${now:%H%M%S}/.slurm
+    timeout_min: 60
+    cpus_per_task: null
+    gpus_per_node: null
+    tasks_per_node: 1
+    mem_gb: null
+    nodes: 1
+    name: ${hydra.job.name}
+    stderr_to_stdout: false
+    _target_: hydra_plugins.hydra_submitit_launcher.submitit_launcher.LocalLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: 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:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - agent=diffusion
+    - suite=frankagym
+    - suite/frankagym_task@_global_=insertion
+  job:
+    name: eval_robot
+    chdir: true
+    override_dirname: agent=diffusion,suite/frankagym_task@_global_=insertion,suite=frankagym
+    id: ???
+    num: ???
+    config_name: config_eval
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.1'
+    cwd: /home/leonmkim/fish_leon/FISH
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /home/leonmkim/fish_leon/FISH/cfgs
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/265626/204951
+    choices:
+      suite: frankagym
+      suite/frankagym_task@_global_: insertion
+      agent: diffusion
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: submitit_local
+      hydra/output: default
+  verbose: false

204951/.hydra/overrides.yaml

@@ -0,0 +1,3 @@
+- agent=diffusion
+- suite=frankagym
+- suite/frankagym_task@_global_=insertion

204951/eval_robot.log

@@ -0,0 +1,13 @@
+[2024-12-10 20:49:51,284][py.warnings][WARNING] - /home/leonmkim/fish_leon/FISH/eval_robot.py:503: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  @hydra.main(config_path='cfgs', config_name='config_eval')
+
+[2024-12-10 20:49:51,286][py.warnings][WARNING] - /home/leonmkim/fish_leon/FISH/eval_robot.py:439: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(
+
+[2024-12-10 20:49:51,984][rospy.core][INFO] - signal_shutdown [atexit]

205307/.hydra/overrides.yaml

@@ -0,0 +1,3 @@
+- agent=diffusion
+- suite=frankagym
+- suite/frankagym_task@_global_=insertion

205324/eval_video/0_eval.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff4edecb6a17ea039fbf12ba8ab1396b6c7798607c09ee107432df34eedac9aa
+size 622320

205324/tb/events.out.tfevents.1733882011.leonmkim-ROG-Strix-G15CS-G15CS.597884.0

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210407/.hydra/config.yaml

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+root_dir: /home/${oc.env:USER}/fish_leon
+nstep: 3
+seed: 41
+dataset_shuffle_seed: ${seed}
+device: cuda
+save_video: true
+save_buffer: true
+use_tb: true
+baseline: false
+use_wandb: true
+eval: true
+process_contact_features: ${eval}
+obs_type: pixels
+use_color: true
+use_depth: true
+use_masks: false
+mask_list:
+- EE_obj_mask
+mask_representation: channels
+crop_hw:
+- 144
+- 144
+crop_down_offset: 48
+color_crop_type: null
+depth_crop_type: null
+segmask_crop_type: null
+add_crop_binary_mask: false
+add_coord_conv_map: false
+use_context_color: false
+use_context_depth: false
+use_context_segmask: false
+context_color_crop_type: null
+context_depth_crop_type: null
+context_segmask_crop_type: null
+context_add_crop_binary_mask: false
+context_add_coord_conv_map: false
+use_contact_map: false
+use_sdf_maps: false
+use_normals_maps: false
+which_objects: both
+max_contact_prob: 0.1
+max_depth: 2.0
+grasped_dtc_max_value: 0.105
+env_dtc_max_value: 0.425
+grasped_normals_mask_max_dtc_value: 0.105
+env_normals_mask_max_dtc_value: 0.425
+clamp_dtc: true
+dtc_adaptive_normalization: false
+mask_normals_within_sdf: true
+adaptive_normals_mask: true
+learnable_contact_preprocess_params: false
+contact_model_name: local_multitask_outhd64all_home_crop_h144w144d48_ctxt_seed_183386_epoch_9
+contact_estimation_model_ckpt_path: ~/fish_leon/contact_estimation/artifacts/175604_2/checkpoints/epoch=09-val_loss=0.00.ckpt
+num_eval: 5
+debug_timestamps: false
+open_loop: false
+action_trajectories: true
+stop_after_action: false
+interpolation_frequency: 25
+policy_frequency: 5
+wait_for_new_camera_frames: true
+random_start: false
+eval_starts: ${root_dir}/FISH/eval_starts/${suite.name}_${obs_type}/${task_name}
+train_demo_idxs_list_or_num: null
+num_valid_demos: null
+val_num_groups: 3
+name_of_expert_demo: 192_240x320_multiobj_twodim_recovery_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act
+expert_dataset_dirpath: ${root_dir}/FISH/expert_demos/${suite.name}/${task_name}/${name_of_expert_demo}
+expert_dataset: ${expert_dataset_dirpath}/demos.zarr
+action_key: ${oc.if_else:${action_trajectories}, 'action_trajectory_${interpolation_frequency}hz',
+  'action'}
+semantic_demo_grouping_name: semantic_demo_grouping.yaml
+semantic_demo_grouping: ${expert_dataset_dirpath}/${semantic_demo_grouping_name}
+expert_dataset_config: ${expert_dataset_dirpath}/demo_config.yaml
+bc_regularize: false
+bc_weight_type: qfilter
+load_checkpoint: ${agent.load_checkpoint}
+wandb_run_id: '265626'
+true_action_history: false
+wandb_notes: null
+checkpoint_epoch: 12000
+load_residual_weight: false
+checkpoint_root_dir: /home/${oc.env:USER}/fish_leon/FISH
+checkpoint_weight_dir: ${checkpoint_root_dir}/exp_local/${suite.name}_${obs_type}/${task_name}/${wandb_run_id}
+residual_weight: ${root_dir}/FISH/weights/${suite.name}_${obs_type}/${task_name}/weight.pt
+experiment_dir: ./exp_local/${suite.name}_${obs_type}/${task_name}/${wandb_run_id}
+agent:
+  _target_: agent.diffusion_policy.DiffusionPolicyAgent
+  name: diffusion_policy
+  load_checkpoint: ${eval}
+  device: ${device}
+  n_obs_steps: ${.config.policy_cfg.n_obs_steps}
+  suite_name: ${suite.name}
+  obs_type: ${obs_type}
+  enable_arm: ${eval}
+  enable_camera: ${eval}
+  use_tb: ${use_tb}
+  desired_image_shape:
+  - 13
+  - 180
+  - 240
+  orig_cam_shape:
+  - 3
+  - 240
+  - 320
+  config:
+    _target_: agent.diffusion_policy.DiffusionPolicyAgentConfig
+    compile: false
+    device: ${device}
+    cam_resize_shape: ${agent.desired_image_shape}
+    orig_cam_shape: ${agent.orig_cam_shape}
+    policy_frequency: ${policy_frequency}
+    interpolation_frequency: ${interpolation_frequency}
+    policy_cfg:
+      _target_: lerobot.common.policies.diffusion.configuration_diffusion.DiffusionConfig
+      n_obs_steps: 1
+      horizon: 36
+      n_action_steps: ${agent.config.policy_cfg.horizon}
+      input_shapes:
+        observation.image: ${agent.config.cam_resize_shape}
+        context_observation.image: ${agent.config.cam_resize_shape}
+        observation.state:
+        - 8
+        observation.action_history:
+        - 7
+      output_shapes:
+        action:
+        - 7
+      input_normalization_modes:
+        observation.image: mean_std
+        observation.state: min_max
+        observation.action_history: min_max
+      output_normalization_modes:
+        action: min_max
+      vision_backbone: resnet18
+      pretrained_backbone_weights: null
+      transforms:
+      - _target_: torchaug.transforms.RandomAffine
+        degrees:
+        - -5
+        - 5
+        translate:
+        - 0.05
+        - 0.05
+        batch_transform: true
+        num_chunks: -1
+        batch_inplace: true
+      - _target_: torchaug.transforms.RandomColorJitter
+        brightness: 0.3
+        contrast: 0.4
+        saturation: 0.5
+        hue: 0.08
+        batch_transform: true
+        num_chunks: -1
+        batch_inplace: true
+      use_group_norm: true
+      spatial_softmax_num_keypoints: 32
+      action_history_encoder_config:
+        _target_: lerobot.common.policies.diffusion.configuration_diffusion.Unet1dEncoderConfig
+        in_channels: 7
+        out_channels: 32
+        history_length: ${agent.config.policy_cfg.n_action_steps}
+        kernel_size: ${agent.config.policy_cfg.kernel_size}
+        downsample_kernel_size: 3
+        downsample_stride: 2
+        downsample_padding: 1
+      down_dims:
+      - 256
+      - 512
+      - 1024
+      kernel_size: 5
+      n_groups: 8
+      diffusion_step_embed_dim: 128
+      use_film_scale_modulation: true
+      noise_scheduler_type: DDIM
+      beta_schedule: squaredcos_cap_v2
+      beta_start: 0.0001
+      beta_end: 0.02
+      prediction_type: epsilon
+      clip_sample: true
+      clip_sample_range: 1.0
+      num_train_timesteps: 50
+      num_inference_steps: 10
+      do_mask_loss_for_padding: false
+    train_cfg:
+      _target_: utils.TrainConfig
+      lr: 0.0001
+      lr_scheduler: cosine
+      lr_warmup_steps: 500
+      adam_betas:
+      - 0.95
+      - 0.999
+      adam_eps: 1.0e-08
+      adam_weight_decay: 1.0e-06
+      grad_clip_norm: 10
+      offline_steps: ${num_train_frames_diffusion}
+      use_amp: true
+    observation_cfg:
+      _target_: agent.encoder.VisualFeatureSet
+      use_depth: ${use_depth}
+      use_color: ${use_color}
+      mask_input_dict:
+        _target_: agent.encoder.MaskInputDict
+        enable: ${use_masks}
+        representation: ${mask_representation}
+        mask_list: ${mask_list}
+      crop_input_config:
+        _target_: agent.encoder.CropInputConfig
+        color_crop_type: ${color_crop_type}
+        depth_crop_type: ${depth_crop_type}
+        segmask_crop_type: ${segmask_crop_type}
+        crop_hw: ${crop_hw}
+        crop_down_offset: ${crop_down_offset}
+        add_crop_binary_mask: ${add_crop_binary_mask}
+        add_coord_conv_map: ${add_coord_conv_map}
+      context_input_config:
+        _target_: agent.encoder.ContextInputConfig
+        use_color: ${use_context_color}
+        use_depth: ${use_context_depth}
+        mask_input_dict:
+          _target_: agent.encoder.MaskInputDict
+          enable: ${use_context_segmask}
+          representation: ${mask_representation}
+          mask_list: ${mask_list}
+        crop_input_config:
+          _target_: agent.encoder.CropInputConfig
+          color_crop_type: ${context_color_crop_type}
+          depth_crop_type: ${context_depth_crop_type}
+          segmask_crop_type: ${context_segmask_crop_type}
+          crop_hw: ${crop_hw}
+          crop_down_offset: ${crop_down_offset}
+          add_crop_binary_mask: ${context_add_crop_binary_mask}
+          add_coord_conv_map: ${context_add_coord_conv_map}
+      mask_soft_approx_scheduler_config:
+        _target_: agent.encoder.MaskSoftApproxSchedulerConfig
+        num_steps: 40000
+        initial_value: 10.0
+        final_value: 1000.0
+        interpolation_scheme: constant
+      use_contact_map: ${use_contact_map}
+      use_sdf_maps: ${use_sdf_maps}
+      use_normals_maps: ${use_normals_maps}
+      which_objects: ${which_objects}
+      grasped_dtc_max_value: ${grasped_dtc_max_value}
+      env_dtc_max_value: ${env_dtc_max_value}
+      grasped_normals_mask_max_dtc_value: ${grasped_normals_mask_max_dtc_value}
+      env_normals_mask_max_dtc_value: ${env_normals_mask_max_dtc_value}
+      clamp_dtc: ${clamp_dtc}
+      max_contact_prob: ${max_contact_prob}
+      mask_normals_within_sdf: ${mask_normals_within_sdf}
+      dtc_adaptive_normalization: ${dtc_adaptive_normalization}
+      adaptive_normals_mask: ${adaptive_normals_mask}
+      max_depth: ${max_depth}
+      image_shape: ${agent.desired_image_shape}
+      learnable_contact_preprocess_params: ${learnable_contact_preprocess_params}
+      learning_rate: ${agent.config.train_cfg.lr}
+      weight_decay: 0.0
+      contact_model_name: ${contact_model_name}
+      zero_centered: false
+suite:
+  suite: frankagym
+  name: frankagym
+  frame_stack: ${agent.n_obs_steps}
+  action_repeat: 1
+  discount: 0.99
+  hidden_dim: 1024
+  num_train_frames: 2010
+  num_seed_frames: 260
+  num_train_epochs: 5000
+  validate_every_epochs: 100
+  validate_diffusion_on_action_loss_every_epochs: 500
+  train_eval_diffusion_on_action_loss_every_epochs: 500
+  check_topk_every_epochs: 10
+  save_snapshot_every_epochs: 5000
+  eval_every_frames: 2000
+  num_eval_episodes: 5
+  save_snapshot: true
+  wait_for_user_to_start_episode: true
+  task_make_fn:
+    _target_: suite.frankagym.make
+    name: ${task_name}
+    height: 240
+    width: 320
+    frame_stack: ${suite.frame_stack}
+    action_repeat: ${suite.action_repeat}
+    seed: ${seed}
+    enable_arm: ${agent.enable_arm}
+    enable_gripper: ${enable_gripper}
+    start_with_gripper_open: ${start_with_gripper_open}
+    enable_camera: ${agent.enable_camera}
+    path_to_depth_extrinsics: ${path_to_depth_extrinsics}
+    contact_estimation_model_ckpt_path: ${contact_estimation_model_ckpt_path}
+    x_limit: ${x_limit}
+    y_limit: ${y_limit}
+    z_limit: ${z_limit}
+    device: ${device}
+    interpolation_frequency: ${interpolation_frequency}
+    policy_frequency: ${policy_frequency}
+    debug_timestamps: ${debug_timestamps}
+    stop_after_action: ${stop_after_action}
+    open_loop: ${open_loop}
+    wait_for_new_camera_frames: ${wait_for_new_camera_frames}
+    action_key: ${action_key}
+    action_trajectory_horizon: ${agent.config.policy_cfg.horizon}
+    action_trajectories: ${action_trajectories}
+    path_to_zarr_dataset: ${expert_dataset}
+    agent_policy_cfg: ???
+    true_action_history: ${true_action_history}
+num_train_frames_bc: 50000
+num_train_frames_drq: 1100000
+stddev_schedule_drq: linear(1.0,0.1,100000)
+task_name: FrankaInsertion-v1
+num_train_frames_vinn: 25000
+num_train_frames_diffusion: 1000000
+num_train_epochs_bc: 5000
+num_train_epochs_diffusion: 5000
+validate_every_epochs_bc: 5
+validate_every_epochs_diffusion: 25
+validate_diffusion_on_action_loss_every_epochs: 50
+train_eval_diffusion_on_action_loss_every_epochs: 500
+check_topk_every_epochs: 5
+check_topk_every_epochs_diffusion: ${validate_diffusion_on_action_loss_every_epochs}
+save_snapshot_every_epochs_diffusion: 5000
+x_limit:
+- 0.2
+- 0.7
+y_limit:
+- -0.4
+- 0.4
+z_limit:
+- -0.05
+- 0.55
+home_displacement:
+- 0.55
+- 0.0
+- 0.55
+- 180.0
+- 0.0
+- 0.0
+enable_gripper: true
+start_with_gripper_open: true
+offset_mask:
+- 1
+- 1
+- 1
+- 1
+- 1
+- 1
+path_to_depth_extrinsics: ~/fish_leon/FISH/cfgs/camera_poses/camera_poses_L515/20240904-122305/color_tf_world.npy

210407/.hydra/hydra.yaml

@@ -0,0 +1,169 @@
+hydra:
+  run:
+    dir: ${experiment_dir}/${now:%H%M%S}
+  sweep:
+    dir: ${experiment_dir}/${now:%H%M%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    submitit_folder: ${experiment_dir}/${now:%H%M%S}/.slurm
+    timeout_min: 60
+    cpus_per_task: null
+    gpus_per_node: null
+    tasks_per_node: 1
+    mem_gb: null
+    nodes: 1
+    name: ${hydra.job.name}
+    stderr_to_stdout: false
+    _target_: hydra_plugins.hydra_submitit_launcher.submitit_launcher.LocalLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: 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:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - agent=diffusion
+    - suite=frankagym
+    - suite/frankagym_task@_global_=insertion
+  job:
+    name: eval_robot
+    chdir: true
+    override_dirname: agent=diffusion,suite/frankagym_task@_global_=insertion,suite=frankagym
+    id: ???
+    num: ???
+    config_name: config_eval
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.1'
+    cwd: /home/leonmkim/fish_leon/FISH
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /home/leonmkim/fish_leon/FISH/cfgs
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/265626/210407
+    choices:
+      suite: frankagym
+      suite/frankagym_task@_global_: insertion
+      agent: diffusion
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: submitit_local
+      hydra/output: default
+  verbose: false

210407/.hydra/overrides.yaml

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+- agent=diffusion
+- suite=frankagym
+- suite/frankagym_task@_global_=insertion

210407/episode_rosbags/aligned_depth_to_color_K.npy

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210407/episode_rosbags/cam_tf_world.npy

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210407/episode_rosbags/color_K.npy

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210407/episode_rosbags/depth_K.npy

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+oid sha256:cc601d2fecd31c5513c76a88b5d4d8059adc1f92dad682e2d755d89a66d8fdf7
+size 200

210407/eval_robot.log

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+[2024-12-10 21:04:07,944][py.warnings][WARNING] - /home/leonmkim/fish_leon/FISH/eval_robot.py:503: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  @hydra.main(config_path='cfgs', config_name='config_eval')
+
+[2024-12-10 21:04:07,947][py.warnings][WARNING] - /home/leonmkim/fish_leon/FISH/eval_robot.py:439: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(
+

210407/eval_video/0_eval.mp4

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+size 1091529

210407/tb/events.out.tfevents.1733882654.leonmkim-ROG-Strix-G15CS-G15CS.599894.0

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210407/wandb/debug.log

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500, 'train_eval_diffusion_on_action_loss_every_epochs': 500, 'check_topk_every_epochs': 10, 'save_snapshot_every_epochs': 5000, 'eval_every_frames': 2000, 'num_eval_episodes': 5, 'save_snapshot': True, 'wait_for_user_to_start_episode': True, 'task_make_fn': {'_target_': 'suite.frankagym.make', 'name': 'FrankaInsertion-v1', 'height': 240, 'width': 320, 'frame_stack': 1, 'action_repeat': 1, 'seed': 0, 'enable_arm': True, 'enable_gripper': True, 'start_with_gripper_open': True, 'enable_camera': True, 'path_to_depth_extrinsics': '~/fish_leon/FISH/cfgs/camera_poses/camera_poses_L515/20240904-122305/color_tf_world.npy', 'contact_estimation_model_ckpt_path': '~/fish_leon/contact_estimation/artifacts/175604_2/checkpoints/epoch=09-val_loss=0.00.ckpt', 'x_limit': [0.2, 0.7], 'y_limit': [-0.4, 0.4], 'z_limit': [-0.05, 0.55], 'device': 'cuda', 'interpolation_frequency': 25, 'policy_frequency': 5, 'debug_timestamps': False, 'stop_after_action': False, 'open_loop': False, 'wait_for_new_camera_frames': True, 'action_key': 'action_trajectory_25hz', 'action_trajectory_horizon': 36, 'action_trajectories': True, 'path_to_zarr_dataset': '/home/leonmkim/fish_leon/FISH/expert_demos/frankagym/FrankaInsertion-v1/64_240x320_hbm_twodim_fps_fix_contact_fix_recovery_fix_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act/demos.zarr', 'observation_cfg': {'_target_': 'agent.encoder.VisualFeatureSet', 'use_depth': True, 'use_color': True, 'mask_input_dict': {'_target_': 'agent.encoder.MaskInputDict', 'enable': True, 'representation': 'channels', 'mask_list': ['EE_obj_mask']}, 'crop_input_config': {'_target_': 'agent.encoder.CropInputConfig', 'color_crop_type': None, 'depth_crop_type': None, 'segmask_crop_type': None, 'crop_hw': [144, 144], 'crop_down_offset': 48, 'add_crop_binary_mask': False, 'add_coord_conv_map': False}, 'context_input_config': {'_target_': 'agent.encoder.ContextInputConfig', 'use_color': False, 'use_depth': False, 'mask_input_dict': {'_target_': 'agent.encoder.MaskInputDict', 'enable': False, 'representation': 'channels', 'mask_list': ['EE_obj_mask']}, 'crop_input_config': {'_target_': 'agent.encoder.CropInputConfig', 'color_crop_type': None, 'depth_crop_type': None, 'segmask_crop_type': None, 'crop_hw': [144, 144], 'crop_down_offset': 48, 'add_crop_binary_mask': False, 'add_coord_conv_map': False}}, 'mask_soft_approx_scheduler_config': {'_target_': 'agent.encoder.MaskSoftApproxSchedulerConfig', 'num_steps': 40000, 'initial_value': 10.0, 'final_value': 1000.0, 'interpolation_scheme': 'cosine'}, 'use_contact_map': False, 'use_sdf_maps': False, 'use_normals_maps': False, 'which_objects': 'both', 'grasped_dtc_max_value': 0.2, 'env_dtc_max_value': 0.4, 'grasped_normals_mask_max_dtc_value': 0.2, 'env_normals_mask_max_dtc_value': 0.4, 'clamp_dtc': True, 'max_contact_prob': 0.1, 'mask_normals_within_sdf': True, 'dtc_adaptive_normalization': False, 'adaptive_normals_mask': True, 'max_depth': 2.0, 'image_shape': [13, 180, 240], 'learnable_contact_preprocess_params': True, 'learning_rate': 0.0001, 'weight_decay': 0.0, 'contact_model_name': 'local_multitask_outhd64all_home_crop_h144w144d48_mask_ctxtmask_seed_220979_epoch_9', 'zero_centered': False}, 'agent_policy_cfg': {'_target_': 'agent.diffusion_policy.DiffusionPolicyAgentConfig', 'compile': False, 'device': 'cuda', 'cam_resize_shape': [13, 180, 240], 'orig_cam_shape': [3, 240, 320], 'policy_cfg': {'_target_': 'lerobot.common.policies.diffusion.configuration_diffusion.DiffusionConfig', 'n_obs_steps': 1, 'horizon': 36, 'n_action_steps': 36, 'output_shapes': {'action': [7]}, 'input_normalization_modes': {'observation.image': 'mean_std', 'observation.state': 'min_max', 'observation.action_history': 'min_max'}, 'output_normalization_modes': {'action': 'min_max'}, 'vision_backbone': 'resnet18', 'pretrained_backbone_weights': None, 'transforms': [{'_target_': 'torchaug.transforms.RandomAffine', 'degrees': [-5, 5], 'translate': [0.05, 0.05], 'batch_transform': True, 'num_chunks': -1, 'batch_inplace': True}, {'_target_': 'torchaug.transforms.RandomColorJitter', 'brightness': 0.3, 'contrast': 0.4, 'saturation': 0.5, 'hue': 0.08, 'batch_transform': True, 'num_chunks': -1, 'batch_inplace': True}], 'use_group_norm': True, 'spatial_softmax_num_keypoints': 32, 'action_history_encoder_config': {'_target_': 'lerobot.common.policies.diffusion.configuration_diffusion.Unet1dEncoderConfig', 'in_channels': 7, 'out_channels': 32, 'history_length': 6, 'kernel_size': 5, 'downsample_kernel_size': 3, 'downsample_stride': 2, 'downsample_padding': 1}, 'down_dims': [256, 512, 1024], 'kernel_size': 5, 'n_groups': 8, 'diffusion_step_embed_dim': 128, 'use_film_scale_modulation': True, 'noise_scheduler_type': 'DDIM', 'beta_schedule': 'squaredcos_cap_v2', 'beta_start': 0.0001, 'beta_end': 0.02, 'prediction_type': 'epsilon', 'clip_sample': True, 'clip_sample_range': 1.0, 'num_train_timesteps': 50, 'num_inference_steps': 10, 'do_mask_loss_for_padding': False, 'input_shapes': {'observation.image': [13, 180, 240], 'context_observation.image': [13, 180, 240], 'observation.state': [8], 'observation.action_history': [7]}}, 'train_cfg': {'_target_': 'utils.TrainConfig', 'lr': 0.0001, 'lr_scheduler': 'cosine', 'lr_warmup_steps': 500, 'adam_betas': [0.95, 0.999], 'adam_eps': 1e-08, 'adam_weight_decay': 1e-06, 'grad_clip_norm': 10, 'offline_steps': 1000000, 'use_amp': True}, 'observation_cfg': {'_target_': 'agent.encoder.VisualFeatureSet', 'use_depth': True, 'use_color': True, 'mask_input_dict': {'_target_': 'agent.encoder.MaskInputDict', 'enable': True, 'representation': 'channels', 'mask_list': ['EE_obj_mask']}, 'crop_input_config': {'_target_': 'agent.encoder.CropInputConfig', 'color_crop_type': None, 'depth_crop_type': None, 'segmask_crop_type': None, 'crop_hw': [144, 144], 'crop_down_offset': 48, 'add_crop_binary_mask': False, 'add_coord_conv_map': False}, 'context_input_config': {'_target_': 'agent.encoder.ContextInputConfig', 'use_color': False, 'use_depth': False, 'mask_input_dict': {'_target_': 'agent.encoder.MaskInputDict', 'enable': False, 'representation': 'channels', 'mask_list': ['EE_obj_mask']}, 'crop_input_config': {'_target_': 'agent.encoder.CropInputConfig', 'color_crop_type': None, 'depth_crop_type': None, 'segmask_crop_type': None, 'crop_hw': [144, 144], 'crop_down_offset': 48, 'add_crop_binary_mask': False, 'add_coord_conv_map': False}}, 'mask_soft_approx_scheduler_config': {'_target_': 'agent.encoder.MaskSoftApproxSchedulerConfig', 'num_steps': 40000, 'initial_value': 10.0, 'final_value': 1000.0, 'interpolation_scheme': 'cosine'}, 'use_contact_map': False, 'use_sdf_maps': False, 'use_normals_maps': False, 'which_objects': 'both', 'grasped_dtc_max_value': 0.2, 'env_dtc_max_value': 0.4, 'grasped_normals_mask_max_dtc_value': 0.2, 'env_normals_mask_max_dtc_value': 0.4, 'clamp_dtc': True, 'max_contact_prob': 0.1, 'mask_normals_within_sdf': True, 'dtc_adaptive_normalization': False, 'adaptive_normals_mask': True, 'max_depth': 2.0, 'image_shape': [13, 180, 240], 'learnable_contact_preprocess_params': True, 'learning_rate': 0.0001, 'weight_decay': 0.0, 'contact_model_name': 'local_multitask_outhd64all_home_crop_h144w144d48_mask_ctxtmask_seed_220979_epoch_9', 'zero_centered': False}, 'policy_frequency': 5, 'interpolation_frequency': 25}, 'true_action_history': False}}, 'num_train_frames_bc': 50000, 'num_train_frames_drq': 1100000, 'stddev_schedule_drq': 'linear(1.0,0.1,100000)', 'task_name': 'FrankaInsertion-v1', 'num_train_frames_vinn': 25000, 'num_train_frames_diffusion': 1000000, 'num_train_epochs_bc': 5000, 'num_train_epochs_diffusion': 15000, 'validate_every_epochs_bc': 5, 'validate_every_epochs_diffusion': 250, 'validate_diffusion_on_action_loss_every_epochs': 250, 'train_eval_diffusion_on_action_loss_every_epochs': 250, 'check_topk_every_epochs': 5, 'check_topk_every_epochs_diffusion': 250, 'save_snapshot_every_epochs_diffusion': 1500, 'x_limit': [0.2, 0.7], 'y_limit': [-0.4, 0.4], 'z_limit': [-0.05, 0.55], 'home_displacement': [0.55, 0.0, 0.55, 180.0, 0.0, 0.0], 'enable_gripper': True, 'start_with_gripper_open': True, 'offset_mask': [1, 1, 1, 1, 1, 1], 'path_to_depth_extrinsics': '~/fish_leon/FISH/cfgs/camera_poses/camera_poses_L515/20240904-122305/color_tf_world.npy', 'feature_type': '180x240_1_RGB_D_2.0_msk_channels_EE_obj_mask_acthst_hst6_out32_dwnkrnl3_dwnstrd2_dwnpd1', 'save_buffer': True, 'num_eval': 5, 'random_start': False, 'eval_starts': '/home/leonmkim/fish_leon/FISH/eval_starts/frankagym_pixels/FrankaInsertion-v1', 'num_valid_demos': None, 'load_checkpoint': True, 'true_action_history': False, 'checkpoint_epoch': 12000, 'load_residual_weight': False, 'checkpoint_root_dir': '/home/leonmkim/fish_leon/FISH', 'checkpoint_weight_dir': '/home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/265626', 'residual_weight': '/home/leonmkim/fish_leon/FISH/weights/frankagym_pixels/FrankaInsertion-v1/weight.pt'}
+2024-12-10 21:04:14,251 INFO    MainThread:599894 [wandb_init.py:init():619] starting backend
+2024-12-10 21:04:14,251 INFO    MainThread:599894 [wandb_init.py:init():623] setting up manager
+2024-12-10 21:04:14,255 INFO    MainThread:599894 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
+2024-12-10 21:04:14,256 INFO    MainThread:599894 [wandb_init.py:init():631] backend started and connected
+2024-12-10 21:04:14,268 INFO    MainThread:599894 [wandb_init.py:init():720] updated telemetry
+2024-12-10 21:04:14,283 INFO    MainThread:599894 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout
+2024-12-10 21:04:14,563 INFO    MainThread:599894 [wandb_run.py:_on_init():2435] communicating current version
+2024-12-10 21:04:14,605 INFO    MainThread:599894 [wandb_run.py:_on_init():2444] got version response upgrade_message: "wandb version 0.19.0 is available!  To upgrade, please run:\n $ pip install wandb --upgrade"
+
+2024-12-10 21:04:14,606 INFO    MainThread:599894 [wandb_init.py:init():804] starting run threads in backend
+2024-12-10 21:04:14,960 INFO    MainThread:599894 [wandb_run.py:_console_start():2413] atexit reg
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+2024-12-10 21:04:14,960 INFO    MainThread:599894 [wandb_run.py:_redirect():2320] Wrapping output streams.
+2024-12-10 21:04:14,961 INFO    MainThread:599894 [wandb_run.py:_redirect():2345] Redirects installed.
+2024-12-10 21:04:14,962 INFO    MainThread:599894 [wandb_init.py:init():847] run started, returning control to user process
+2024-12-10 21:04:14,962 INFO    MainThread:599894 [wandb_run.py:_tensorboard_callback():1544] tensorboard callback: /home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/265626/210407/tb, True
+2024-12-10 21:05:08,018 INFO    MainThread:599894 [wandb_run.py:_config_callback():1382] config_cb None None {'grasped_obj_name': 'hbm', 'left_book_slot': 'twodim'}
+2024-12-10 21:07:24,447 WARNING MsgRouterThr:599894 [router.py:message_loop():77] message_loop has been closed

210407/wandb/run-20241210_210414-ob7chcle/files/code/FISH/eval_robot.py

@@ -0,0 +1,512 @@
+#%%
+import warnings
+import os
+
+os.environ['MKL_SERVICE_FORCE_INTEL'] = '1'
+os.environ['MUJOCO_GL'] = 'egl'
+from pathlib import Path
+#%%
+import hydra
+import numpy as np
+import torch
+
+import utils
+from utils import get_feature_dirname_from_configs
+
+from video import VideoRecorder
+import pickle
+import time
+import threading
+import shutil
+from logger import Logger
+
+import wandb 
+from omegaconf import OmegaConf, open_dict
+
+from replay_buffer_robot import RosbagEvalReplayBufferStorage
+from lerobot.common.utils.utils import _relative_path_between
+
+torch.backends.cudnn.benchmark = True
+warnings.filterwarnings('ignore', category=DeprecationWarning)
+
+# import specs for replay buffer
+from dm_env import specs
+
+import sys, signal
+import yaml
+
+# get path of current file
+current_path = os.path.dirname(os.path.realpath(__file__))
+sys.path.append(os.path.join(current_path, os.pardir))
+# from contact_estimation.src.utils.viz_utils import normalized_surface_normal_to_rgb, depth_map_to_im, grasped_env_dtc_map_to_im, contact_prob_map_to_im, desaturate_color_image, masked_overlay_im_list
+
+def make_agent(obs_spec, action_spec, cfg):
+	cfg.obs_shape = obs_spec['pixels'].shape
+	dataset_statistics = None # this will be loaded from the checkpoint
+	try:
+		cfg.action_shape = action_spec.shape
+	except:
+		pass
+	return hydra.utils.instantiate(cfg, dataset_statistics)
+
+class Workspace:
+	def __init__(self, cfg):
+		self.work_dir = Path.cwd()
+		print(f'workspace: {self.work_dir}')
+		
+		signal.signal(signal.SIGINT, self.signal_handler)
+		
+		self.cfg = cfg
+		self.loading_uncompiled_checkpoint_with_compile = False
+		self.loading_compiled_checkpoint_with_no_compile = False
+
+		snapshot_path = Path(self.cfg.checkpoint_weight_dir) / f'snapshot_{self.cfg.checkpoint_epoch}.pt' 
+		self.load_checkpoint_conf(snapshot_path=snapshot_path)
+
+		# load config for action trajectories
+		utils.set_seed_everywhere(self.cfg.seed)
+		self.device = torch.device(self.cfg.device)
+		self.setup()
+
+		# self.agent = make_agent(self.eval_env.observation_spec(),
+		# 						self.eval_env.action_spec(), self.cfg.agent)
+		self.timer = utils.Timer()
+		# self._global_step = 0
+		self._global_episode = 0
+		self._global_epoch = 0
+		self.num_episode_successes = 0
+
+		# Need to convert hydra config to primitive container for wandb https://docs.wandb.ai/guides/integrations/hydra
+		with open_dict(self.cfg):
+			self.cfg.feature_type = get_feature_dirname_from_configs(
+				hydra.utils.instantiate(self.cfg.agent.config.observation_cfg), 
+				self.cfg.agent.config.policy_cfg.input_shapes,
+				hydra.utils.instantiate(self.cfg.agent.config.policy_cfg.action_history_encoder_config) if 'observation.action_history' in self.cfg.agent.config.policy_cfg.input_shapes else None,
+			)
+
+		wandb_config = OmegaConf.to_container(
+			self.cfg, resolve=True, throw_on_missing=True
+		)
+		# must be called before any tf summary writer is created
+		if self.cfg.use_wandb:
+			wandb.init(project='extrinsic_contact_downstream', entity='serialexperimentsleon', job_type='eval', sync_tensorboard=self.cfg.use_tb, config=wandb_config)
+
+		self.logger = Logger(self.work_dir, use_tb=self.cfg.use_tb, use_wandb=self.cfg.use_wandb)
+
+		# if not self.loading_uncompiled_checkpoint_with_compile and self.cfg.agent.config.compile:
+		# 	self.agent.compile_modules()
+			
+		# self.load_checkpoint(snapshot_path=snapshot_path)
+
+		# if self.loading_uncompiled_checkpoint_with_compile: # need to call compile after loading the checkpoint
+		# 	self.agent.compile_modules()
+
+		print(f"loaded agent with feature_type: {self.cfg.feature_type}")
+
+	def check_for_key_press(self):
+		while self.continue_keypress_thread:
+			inp = input("Press 'r' to restart current episode, 'n' to stop current episode and skip to next, 'q' to break entire eval\n")
+			if inp == 'n':
+				self.preempt_episode = True
+				print("preempting episode")
+			elif inp in ['', '0', '1']: # enter key
+				if inp in ['0', '1']:
+					self.num_episode_successes += int(inp)
+				self.proceed_after_env_reset_event.set()
+				print("proceeding to start episode!")
+			elif inp == 'q':
+				self.proceed_after_env_reset_event.set()
+				self.preempt_episode = True
+				self.exit_eval = True
+				self.continue_keypress_thread = False # will stop the keypress thread
+				print("quitting eval")
+				break
+			elif inp == 'r':
+				print('restarting episode')
+				self.preempt_episode = True
+				self.restart_episode = True
+			else:
+				print("Invalid key press, try again")
+		
+		# self.keypress_input_thread.join() # wait for the keypress thread to finish
+
+	def signal_handler(self, signal, frame):
+		print("\nprogram exiting gracefully")
+		self.proceed_after_env_reset_event.set()
+		self.preempt_episode = True
+		self.exit_eval = True
+		self.continue_keypress_thread = False # will stop the keypress thread
+		self.keypress_input_thread.join() # wait for the keypress thread to finish
+		video_filepath = self.video_recorder.save()
+		# get the video file and convert to video tensor to log 
+		self.logger.log_video('eval/video', video_filepath, self.global_step)
+		sys.exit(0)
+		
+	def setup(self):
+		# create envs
+		self.eval_env = hydra.utils.call(self.cfg.suite.task_make_fn)
+		# expert_demo_config_path = os.path.join(os.path.dirname(self.cfg.expert_dataset), 'demo_config.yaml')
+		# self.expert_demo_config = yaml.load(open(expert_demo_config_path, 'r'), Loader=yaml.FullLoader)
+		# self.eval_env._env.action_trans_norm = expert_demo_config['max_translation_action_norm']
+		# self.eval_env._env.action_rot_norm = expert_demo_config['max_rotation_action_norm']
+		# self.eval_env._env.action_period = expert_demo_config['sample_period']
+		# print(f"setting max_translation_action_norm to {expert_demo_config['max_translation_action_norm']} and sample_period to {expert_demo_config['sample_period']}")
+		# print(f"setting max_rotation_action_norm to {expert_demo_config['max_rotation_action_norm']}")
+
+		# self.eval_env.set_demo_params(self.cfg.expert_dataset)
+
+		# Turn off random start
+		self.eval_env.random_start = False
+
+		# create replay buffer
+		# data_specs = [
+		# 	{
+		# 		'observation': self.eval_env.observation_spec(),
+		# 	},
+		# 	# self.eval_env.observation_spec()['features'],
+		# 	self.eval_env.action_spec(),
+		# 	specs.Array(self.eval_env.action_spec().shape, self.eval_env.action_spec().dtype, 'vinn_action'), 
+		# 	specs.Array((1, ), np.float32, 'reward'),
+		# 	specs.Array((1, ), np.float32, 'discount'),
+		# ]
+
+		# self.eval_replay_storage = ZarrEvalReplayBufferStorage(data_specs, self.work_dir / 'eval_buffer', debug_timestamps=self.cfg.debug_timestamps, save_buffer=self.cfg.save_buffer, debug_info_data_specs=self.eval_env.debug_info_data_specs, camera_info_dict=self.eval_env.get_camera_info_dict())
+		self.eval_replay_storage = RosbagEvalReplayBufferStorage(self.work_dir)
+
+		self.video_recorder = VideoRecorder(
+			self.work_dir if self.cfg.save_video else None,
+			ros_enabled=True,
+			fps=self.cfg.agent.config.policy_frequency,
+			)
+		
+		print('workspace setup complete')
+		
+	@property
+	def global_step(self):
+		# return self._global_step
+		return self.eval_env.get_global_step()
+
+	@property
+	def global_episode(self):
+		return self._global_episode
+
+	@property
+	def global_frame(self):
+		return self.global_step * self.cfg.action_repeat
+
+	@property
+	def global_epoch(self):
+		return self._global_epoch
+	
+	def reset(self, eval_idx):
+		if not self.eval_env.enable_arm:
+			return np.array([0,0,0], dtype=np.float32)
+		self.eval_env.arm_refresh(reset=False)
+		# Set start position
+		try:
+			self.eval_env.set_position(self.start_pos[eval_idx])
+		except:
+			self.eval_env.arm.set_position(self.start_pos[eval_idx])
+			if self.eval_env.arm.keep_gripper_closed:
+				self.eval_env.arm.close_gripper_fully()
+			else:
+				self.eval_env.arm.open_gripper_fully()
+		time.sleep(0.1)		
+		time_step = self.eval_env.step(np.zeros(self.eval_env.action_spec().shape[0], dtype=np.float32),
+									   np.zeros(self.eval_env.action_spec().shape[0], dtype=np.float32))	
+		return time_step
+
+	def eval(self):
+		# before evals start, prompt user for name of grasped object and the left book of the slot location
+		grasped_obj_name = input("Enter the name of the grasped object: ")
+		left_book_slot = input("Enter the left book slot location: ")
+		# update wandb config
+		if self.cfg.use_wandb:
+			wandb.config.update({'grasped_obj_name': grasped_obj_name, 'left_book_slot': left_book_slot})
+
+		self.preempt_episode = False
+		self.exit_eval = False
+		self.restart_episode = False
+
+		self.continue_keypress_thread = True
+		self.proceed_after_env_reset_event = threading.Event()
+		self.keypress_input_thread = threading.Thread(target=self.check_for_key_press)
+		self.keypress_input_thread.start()
+
+		# # Set model to eval mode
+		# self.agent.train(False)
+		
+		eval_until_episode = utils.Until(self.cfg.num_eval)
+
+		self.use_action_history = False
+		# if "dp" in repr(self.agent) and "observation.action_history" in self.cfg.agent.config.policy_cfg.input_shapes:
+		if "observation.action_history" in self.cfg.agent.config.policy_cfg.input_shapes:
+			self.use_action_history = True
+
+		# self.eval_replay_storage._new_eval_step(0)
+
+		# if 'vinn' in repr(self.agent) or 'openloop' in repr(self.agent):
+		# 	with open(self.cfg.expert_dataset, 'rb') as f:
+		# 		if self.cfg.obs_type == 'pixels':
+		# 			self.expert_demo, _, self.expert_action, self.expert_reward = pickle.load(f)
+		# 		elif self.cfg.obs_type == 'features':
+		# 			_, self.expert_demo, self.expert_action, self.expert_reward = pickle.load(f)
+				
+		# 		if self.cfg.action_trajectories:
+		# 			with open(self.cfg.expert_action_trajectories, 'rb') as f:
+		# 				self.expert_action = pickle.load(f)
+
+		# 		if isinstance(self.cfg.train_demo_idxs_list_or_num, int):
+		# 			if self.cfg.train_demo_idxs_list_or_num == -1:
+		# 				self.cfg.train_demo_idxs_list_or_num = len(self.expert_demo)
+		# 			train_demo_idxs_list_or_num = list(range(self.cfg.train_demo_idxs_list_or_num))
+				
+		# 		self.expert_demo = self.expert_demo[train_demo_idxs_list_or_num]
+		# 		self.expert_action = self.expert_action[train_demo_idxs_list_or_num]
+		# 		self.expert_reward = self.expert_reward[train_demo_idxs_list_or_num]
+		# 		# if self.cfg.action_plans:
+		# 		# 	self.expert_action_plans = self.expert_action_plans[self.cfg.train_demo_idxs_list_or_num]
+		# 		# self.expert_demo = self.expert_demo[:self.cfg.num_demos]
+		# 		# self.expert_action = self.expert_action[:self.cfg.num_demos]
+		# 		# self.expert_reward = self.expert_reward[:self.cfg.num_demos]
+
+		# 		self.expert_demo = np.concatenate(self.expert_demo, axis=0)
+		# 		self.expert_rgb_obs = np.ascontiguousarray(np.transpose(self.expert_demo, (0,2,3,1))[:, :,:,:3].astype(np.uint8))
+		# 		self.expert_action = np.concatenate(self.expert_action, axis=0)
+				
+		# 		self.agent.save_representations(self.expert_demo, self.expert_action, 128, config=self.expert_demo_config)
+		
+		# Get start points
+		if self.cfg.random_start:
+			eval_starts = Path(self.cfg.eval_starts) / 'starts.pkl'
+			if eval_starts.exists():
+				with eval_starts.open('rb') as f:
+					self.start_pos = pickle.load(f)
+			else:
+				eval_starts = Path(self.cfg.eval_starts)
+				eval_starts.mkdir(parents=True, exist_ok=True)
+				
+				# Generate start points
+				self.start_pos = []
+				try:
+					for _ in range(self.cfg.num_eval):
+						self.start_pos.append(self.eval_env.get_random_pos())
+				except:
+					for _ in range(self.cfg.num_eval):
+						self.start_pos.append(self.eval_env.arm.get_random_pos())
+
+				# Save start points for the task
+				eval_starts = eval_starts / 'starts.pkl'
+				with eval_starts.open('wb') as f:
+					pickle.dump(self.start_pos, f)
+
+		time_step = self.eval_env.reset()
+		# replay_thread = None
+		while eval_until_episode(self.global_episode) and not self.exit_eval:
+			# self.video_recorder.init(self.eval_env, video_filename=f'{self.global_episode}_eval.mp4')
+			print(f"Starting episode {self.global_episode}")
+			time_step = self.eval_env.reset() #Leon: need to call reset twice in case objects are trapped
+			self.video_recorder.init(self.eval_env, video_filename=f'{self.global_episode}_eval.mp4')
+			# x = input("Press Enter to continue... after reseting env")
+			print("Press Enter to continue... after reseting env. To rate prev episode, press 0 for failure and 1 for success")
+			self.proceed_after_env_reset_event.clear() # clear the event flag
+			self.proceed_after_env_reset_event.wait() # blocking wait for the event flag to be set
+			if self.global_episode > 0:
+				self.logger.log_metrics({'num_success': self.num_episode_successes}, self.global_step, 'eval', episode=self.global_episode)
+				self.logger.log_metrics({'success_rate': self.num_episode_successes/self.global_episode}, self.global_step, 'eval', episode=self.global_episode)
+			time_step = self.eval_env.reset()
+			# debug_info_dict = self.eval_env.debug_info_dict
+			# if replay_thread is not None:
+			# 	# wait for the last replay thread to finish
+			# 	replay_thread.join()
+
+			# self.eval_replay_storage.add(time_step._replace(observation=time_step.observation[self.cfg.obs_type]), debug_info_dict)
+			# replay_thread = threading.Thread(target=self.eval_replay_storage.add, args=(time_step._replace(observation=time_step.observation[self.cfg.obs_type]), debug_info_dict))
+			# replay_thread = threading.Thread(target=self.eval_replay_storage.add, args=(time_step, debug_info_dict))
+
+			# replay_thread.start()
+			if self.cfg.random_start:
+				time_step = self.reset(self.global_episode)
+				time.sleep(2) #5)
+			# if 'vinn' in repr(self.agent):
+			# 	self.agent.reset()
+			# 	# self.agent.buffer.reset()
+			# 	# if self.cfg.open_loop:
+			# 	# 	self.agent.current_step = 0
+			# if 'openloop' in repr(self.agent):
+			# 	self.agent.curr_step = 0
+			# at start of each episode, provide zero action for policies that use action history
+			# shape should be (T_o, T_a, action_dim)
+
+			# while not time_step.last() and not self.preempt_episode:
+			self.video_recorder.ros_start_recording()
+			self.eval_replay_storage.start_episode()
+			self.eval_env.start_policy_timer()
+			while not self.eval_env.episode_done() and not self.preempt_episode:
+				# with torch.no_grad(), utils.eval_mode(self.agent):
+				# 	# if self.cfg.agent.provide_topk:
+				# 	# 	action, vinn_action, topk = self.agent.act(
+				# 	# 		time_step.observation['pixels'],
+				# 	# 		self.global_step,
+				# 	# 		eval_mode=True)
+				# 	# elif self.cfg.agent.provide_obs:
+				# 	# 	action, vinn_action, obs = self.agent.act(
+				# 	# 		time_step.observation['pixels'],
+				# 	# 		self.global_step,
+				# 	# 		eval_mode=True)
+				# 	# else:
+				# 	action, vinn_action = self.agent.act(
+				# 		time_step.observation,
+				# 		self.global_step,
+				# 		eval_mode=True,
+				# 		obs_timestamp=time_step.observation['timestamp'],
+				# 		obs_seq=time_step.observation['seq'],
+				# 		action_history=action_history,
+				# 		action_history_start_timestamp=action_history_start_timestamp,
+				# 		)
+					# DONT WAIT FOR POLICY TO GET AN ACTION 
+					# we dont want to slow down grabbing obs and passing to sam/contact features
+
+				self.eval_env.run_policy_threads() # this just does a rospy sleep
+					
+				# if self.use_action_history:
+				# 	action_history_start_timestamp = time_step.observation['timestamp']
+				# 	# action_history = action[:self.cfg.agent.config.policy_cfg.action_history_encoder_config.history_length, ...]		
+				# 	# add n_obs_steps dimension to action_history, for now we assume n_obs_steps = 1
+				# 	# TODO: handle n_obs_steps > 1
+				# 	action_history = action[np.newaxis, ...]
+
+				# time_step = self.eval_env.step(action, vinn_action) # obs, reward after action has been taken
+				# debug_info_dict = self.eval_env.debug_info_dict
+				
+				# time_step = self.eval_env.ros_step()
+				
+				# replay_thread.join()
+
+				# time how long it takes to execute the step
+				# time_before_add = time.perf_counter()
+				# self.eval_replay_storage.add(time_step._replace(observation=time_step.observation[self.cfg.obs_type]), debug_info_dict)
+				# use thread to call the add function in a separate thread
+				# replay_thread = threading.Thread(target=self.eval_replay_storage.add, args=(time_step._replace(observation=time_step.observation[self.cfg.obs_type]), debug_info_dict))
+
+				# replay_thread = threading.Thread(target=self.eval_replay_storage.add, args=(time_step, debug_info_dict))
+				# replay_thread.start()
+				
+				# print(f"Time to add to replay buffer: {time.perf_counter() - time_before_add}")
+
+				# self.video_recorder.record(self.eval_env)
+				# self._global_step += 1
+			
+			self.eval_env.stop_policy_timer()
+			
+			if self.restart_episode:
+				# means we should delete the current episode and start again
+				self.restart_episode = False
+				self.eval_replay_storage.reset_current_episode()
+				self.video_recorder.reset_current_episode()
+
+			else:
+				self.eval_replay_storage.store_current_episode()
+				video_filepath = self.video_recorder.save()
+				self.logger.log_video(f"eval/{video_filepath.name.rstrip('.mp4')}", video_filepath, self.global_step)
+				self._global_episode += 1
+			
+			self.preempt_episode = False # reset preempt_episode flag
+		
+		# self.video_recorder.save(f'{episode}_eval.mp4')
+		# get the video file and convert to video tensor to log 
+
+		self.eval_env.reset()
+		
+		print("Evaluation finished. To wrap up, rate prev episode, press 0 for failure and 1 for success")
+		self.proceed_after_env_reset_event.clear() # clear the event flag
+		self.proceed_after_env_reset_event.wait() # blocking wait for the event flag to be set
+		if self.global_episode > 0:
+			# self.logger.log_metrics({'num_success': self.num_episode_successes}, self.global_step, 'eval', episode=self.global_episode)
+			self.logger.log_metrics({'num_success': self.num_episode_successes}, self.global_step, 'eval', episode=self.global_episode)
+			self.logger.log_metrics({'success_rate': self.num_episode_successes/self.global_episode}, self.global_step, 'eval', episode=self.global_episode)
+			
+		self.continue_keypress_thread = False # will stop the keypress thread
+		self.keypress_input_thread.join() # wait for the keypress thread to finish
+
+	def load_checkpoint_conf(self, snapshot_path):
+		config_path = snapshot_path.parent / 'config.yaml'
+		if not config_path.exists():
+			raise FileNotFoundError(f'No snapshot conf found at {config_path}')
+		else:
+			# load the omegaconf config
+			hydra.core.global_hydra.GlobalHydra.instance().clear()
+			hydra.initialize(
+				str(_relative_path_between(Path(config_path).absolute().parent, Path(__file__).absolute().parent)),
+			)
+			cfg = hydra.compose(Path(config_path).stem)
+			from deepdiff import DeepDiff
+			from omegaconf import open_dict
+			diff = DeepDiff(OmegaConf.to_container(cfg), OmegaConf.to_container(self.cfg)) # old, new
+			# import re
+			overwriteable_keys = [f"root{overwritable_key}" for overwritable_key in ["['use_wandb']", "['path_to_depth_extrinsics']", "['eval']", "['root_dir']", "['wandb_notes']", "['agent']['config']['train_cfg']['use_amp']", "['agent']['config']['compile']", "['agent']['config']['policy_cfg']['num_inference_steps']"]]
+			if "values_changed" in diff:
+				# top_k_checkpoints, wandb_notes, agent.config.train_cfg.use_amp, save_snapshot_every_epochs_diffusion, check_topk_every_epochs_diffusion, validate_diffusion_on_action_loss_every_epochs, train_eval_diffusion_on_action_loss_every_epochs, validate_every_epochs_diffusion
+				# for keys above, overwrite the old config with the new config
+				for k, v in diff['values_changed'].items():
+					# replace any keys that are under "root['suite']"
+					if k in overwriteable_keys or k.startswith("root['suite']"):
+						print(f"Found changed key {k} with value {v}. Overwriting old checkpoint config")
+						if k == "root['agent']['config']['compile']":
+							if diff['values_changed'][k]['new_value']:
+								self.loading_uncompiled_checkpoint_with_compile = True
+							elif not diff['values_changed'][k]['new_value']:
+								# raise ValueError("Cannot load a compiled checkpoint without compile")
+								self.loading_compiled_checkpoint_with_no_compile = True
+						exec(f"{k.replace('root[', 'cfg[')} = {k.replace('root[', 'self.cfg[')}")
+			# for any new values, update the old checkpoint config
+			if "dictionary_item_added" in diff:
+				for new_key in diff['dictionary_item_added']: # this is a list
+					# if new_key == "root['suite']['task_make_fn']['observation_cfg']":
+					if new_key == "root['suite']['task_make_fn']['agent_policy_cfg']":
+						# pass the agents observation_cfg to the suite task_make_fn
+						with open_dict(cfg): # to allow addition of non-existing keys
+							# cfg.suite.task_make_fn.observation_cfg = cfg.agent.config.observation_cfg
+							cfg.suite.task_make_fn.agent_policy_cfg = cfg.agent.config
+						continue
+					elif "['agent']['config']['policy_cfg']['input_shapes']" in new_key:
+						# skip adding the new key if it is the input_shapes of the policy_cfg
+						continue
+					else:
+						print(f"Found new key {new_key} with value {eval(new_key.replace('root[', 'self.cfg['))}. Adding to checkpoint config")
+					# eval(new_key.replace('root', 'cfg')) = eval(new_key.replace('root', 'self.cfg'))
+					if new_key == "root['agent']['config']['compile']":
+						if self.cfg.agent.config.compile:
+							self.loading_uncompiled_checkpoint_with_compile = True
+					
+					with open_dict(cfg):
+						exec(f"{new_key.replace('root[', 'cfg[')}={new_key.replace('root[', 'self.cfg[')}")
+			self.cfg = cfg
+
+	def load_checkpoint(self, snapshot_path, bc=False):
+		print(f'resuming {repr(self.agent)}: {snapshot_path}')
+		with snapshot_path.open('rb') as f:
+			payload = torch.load(f)
+		agent_payload = {}
+		for k, v in payload.items():
+			if k not in self.__dict__:
+				agent_payload[k] = v
+			elif k == '_global_epoch':
+				self._global_epoch = v
+				print(f'loaded epoch: {v}')
+				if self.cfg.use_wandb:
+					# add to config of wandb
+					wandb.config.update({'epoch': v})
+
+		# self.agent.load_snapshot_eval(agent_payload, bc)
+
+@hydra.main(config_path='cfgs', config_name='config_eval')
+def main(cfg):
+	from eval_robot import Workspace as W
+	root_dir = Path.cwd()
+	workspace = W(cfg)
+
+	workspace.eval()
+
+if __name__ == '__main__':
+	main()

210407/wandb/run-20241210_210414-ob7chcle/files/config.yaml

@@ -0,0 +1,966 @@
+wandb_version: 1
+
+root_dir:
+  desc: null
+  value: /home/leonmkim/fish_leon
+replay_buffer_size:
+  desc: null
+  value: 150000
+replay_buffer_num_workers:
+  desc: null
+  value: 2
+nstep:
+  desc: null
+  value: 3
+batch_size:
+  desc: null
+  value: 128
+seed:
+  desc: null
+  value: 0
+dataset_shuffle_seed:
+  desc: null
+  value: 0
+device:
+  desc: null
+  value: cuda
+save_video:
+  desc: null
+  value: true
+save_train_video:
+  desc: null
+  value: true
+use_tb:
+  desc: null
+  value: true
+use_wandb:
+  desc: null
+  value: true
+wandb_run_id:
+  desc: null
+  value: '265626'
+wandb_notes:
+  desc: null
+  value: 265626_req_265827
+eval:
+  desc: null
+  value: true
+process_contact_features:
+  desc: null
+  value: true
+obs_type:
+  desc: null
+  value: pixels
+use_color:
+  desc: null
+  value: true
+use_depth:
+  desc: null
+  value: true
+use_masks:
+  desc: null
+  value: true
+mask_list:
+  desc: null
+  value:
+  - EE_obj_mask
+mask_representation:
+  desc: null
+  value: channels
+crop_hw:
+  desc: null
+  value:
+  - 144
+  - 144
+crop_down_offset:
+  desc: null
+  value: 48
+color_crop_type:
+  desc: null
+  value: null
+depth_crop_type:
+  desc: null
+  value: null
+segmask_crop_type:
+  desc: null
+  value: null
+add_crop_binary_mask:
+  desc: null
+  value: false
+add_coord_conv_map:
+  desc: null
+  value: false
+use_context_color:
+  desc: null
+  value: false
+use_context_depth:
+  desc: null
+  value: false
+use_context_segmask:
+  desc: null
+  value: false
+context_color_crop_type:
+  desc: null
+  value: null
+context_depth_crop_type:
+  desc: null
+  value: null
+context_segmask_crop_type:
+  desc: null
+  value: null
+context_add_crop_binary_mask:
+  desc: null
+  value: false
+context_add_coord_conv_map:
+  desc: null
+  value: false
+use_contact_map:
+  desc: null
+  value: false
+use_sdf_maps:
+  desc: null
+  value: false
+use_normals_maps:
+  desc: null
+  value: false
+which_objects:
+  desc: null
+  value: both
+max_contact_prob:
+  desc: null
+  value: 0.1
+max_depth:
+  desc: null
+  value: 2.0
+grasped_dtc_max_value:
+  desc: null
+  value: 0.2
+env_dtc_max_value:
+  desc: null
+  value: 0.4
+grasped_normals_mask_max_dtc_value:
+  desc: null
+  value: 0.2
+env_normals_mask_max_dtc_value:
+  desc: null
+  value: 0.4
+clamp_dtc:
+  desc: null
+  value: true
+dtc_adaptive_normalization:
+  desc: null
+  value: false
+mask_normals_within_sdf:
+  desc: null
+  value: true
+adaptive_normals_mask:
+  desc: null
+  value: true
+learnable_contact_preprocess_params:
+  desc: null
+  value: true
+contact_model_name:
+  desc: null
+  value: local_multitask_outhd64all_home_crop_h144w144d48_mask_ctxtmask_seed_220979_epoch_9
+contact_estimation_model_ckpt_path:
+  desc: null
+  value: ~/fish_leon/contact_estimation/artifacts/175604_2/checkpoints/epoch=09-val_loss=0.00.ckpt
+encoder_type:
+  desc: null
+  value: small
+debug_timestamps:
+  desc: null
+  value: false
+open_loop:
+  desc: null
+  value: false
+action_trajectories:
+  desc: null
+  value: true
+stop_after_action:
+  desc: null
+  value: false
+interpolation_frequency:
+  desc: null
+  value: 25
+policy_frequency:
+  desc: null
+  value: 5
+wait_for_new_camera_frames:
+  desc: null
+  value: true
+baseline:
+  desc: null
+  value: false
+train_demo_idxs_list_or_num:
+  desc: null
+  value: -1
+log_train_every_steps:
+  desc: null
+  value: 25
+name_of_expert_demo:
+  desc: null
+  value: 64_240x320_hbm_twodim_fps_fix_contact_fix_recovery_fix_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act
+expert_dataset_dirpath:
+  desc: null
+  value: /home/leonmkim/fish_leon/FISH/expert_demos/frankagym/FrankaInsertion-v1/64_240x320_hbm_twodim_fps_fix_contact_fix_recovery_fix_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act
+store_dataset_in_memory:
+  desc: null
+  value: false
+expert_dataset:
+  desc: null
+  value: /home/leonmkim/fish_leon/FISH/expert_demos/frankagym/FrankaInsertion-v1/64_240x320_hbm_twodim_fps_fix_contact_fix_recovery_fix_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act/demos.zarr
+action_key:
+  desc: null
+  value: action_trajectory_25hz
+semantic_demo_grouping_name:
+  desc: null
+  value: semantic_demo_grouping.yaml
+semantic_demo_grouping:
+  desc: null
+  value: /home/leonmkim/fish_leon/FISH/expert_demos/frankagym/FrankaInsertion-v1/64_240x320_hbm_twodim_fps_fix_contact_fix_recovery_fix_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act/semantic_demo_grouping.yaml
+include_groups_list:
+  desc: null
+  value:
+  - hbm_twodim_left_to_right
+expert_dataset_config:
+  desc: null
+  value: /home/leonmkim/fish_leon/FISH/expert_demos/frankagym/FrankaInsertion-v1/64_240x320_hbm_twodim_fps_fix_contact_fix_recovery_fix_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act/demo_config.yaml
+name_of_valid_demo:
+  desc: null
+  value: 64_240x320_hbm_twodim_fps_fix_contact_fix_recovery_fix_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act
+valid_dataset_dir:
+  desc: null
+  value: /home/leonmkim/fish_leon/FISH/expert_demos/frankagym/FrankaInsertion-v1/64_240x320_hbm_twodim_fps_fix_contact_fix_recovery_fix_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act/demos.zarr
+valid_demo_idxs_list_or_num:
+  desc: null
+  value: null
+val_num_groups:
+  desc: null
+  value: 0
+load_bc:
+  desc: null
+  value: true
+checkpoint_epoch_list:
+  desc: null
+  value:
+  - 99
+  - 199
+  - 299
+  - 399
+  - 499
+  - 599
+  - 699
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+  - 1499
+  - 1749
+  - 1999
+  - 2999
+  - 3999
+  - 4999
+  - 5999
+  - 6999
+  - 7999
+  - 8999
+  - 9999
+snapshot_root_dir:
+  desc: null
+  value: /mnt/grasp_high_usage/leonmkim/contact_estimation/FISH
+save_snapshot:
+  desc: null
+  value: true
+save_last_snapshot:
+  desc: null
+  value: true
+save_snapshot_when_done:
+  desc: null
+  value: true
+top_k_checkpoints:
+  desc: null
+  value: 5
+save_snapshot_link_to_weights_dir:
+  desc: null
+  value: deprecated
+bc_regularize:
+  desc: null
+  value: false
+bc_weight_type:
+  desc: null
+  value: qfilter
+experiment_dir:
+  desc: null
+  value: ./exp_local/frankagym_pixels/FrankaInsertion-v1/265626
+agent:
+  desc: null
+  value:
+    _target_: agent.diffusion_policy.DiffusionPolicyAgent
+    name: diffusion_policy
+    load_checkpoint: true
+    obs_shape:
+    - 5
+    - 240
+    - 320
+    action_shape:
+    - 36
+    - 7
+    device: cuda
+    n_obs_steps: 1
+    suite_name: frankagym
+    obs_type: pixels
+    enable_arm: true
+    enable_camera: true
+    use_tb: true
+    desired_image_shape:
+    - 13
+    - 180
+    - 240
+    orig_cam_shape:
+    - 3
+    - 240
+    - 320
+    config:
+      _target_: agent.diffusion_policy.DiffusionPolicyAgentConfig
+      compile: false
+      device: cuda
+      cam_resize_shape:
+      - 13
+      - 180
+      - 240
+      orig_cam_shape:
+      - 3
+      - 240
+      - 320
+      policy_cfg:
+        _target_: lerobot.common.policies.diffusion.configuration_diffusion.DiffusionConfig
+        n_obs_steps: 1
+        horizon: 36
+        n_action_steps: 36
+        output_shapes:
+          action:
+          - 7
+        input_normalization_modes:
+          observation.image: mean_std
+          observation.state: min_max
+          observation.action_history: min_max
+        output_normalization_modes:
+          action: min_max
+        vision_backbone: resnet18
+        pretrained_backbone_weights: null
+        transforms:
+        - _target_: torchaug.transforms.RandomAffine
+          degrees:
+          - -5
+          - 5
+          translate:
+          - 0.05
+          - 0.05
+          batch_transform: true
+          num_chunks: -1
+          batch_inplace: true
+        - _target_: torchaug.transforms.RandomColorJitter
+          brightness: 0.3
+          contrast: 0.4
+          saturation: 0.5
+          hue: 0.08
+          batch_transform: true
+          num_chunks: -1
+          batch_inplace: true
+        use_group_norm: true
+        spatial_softmax_num_keypoints: 32
+        action_history_encoder_config:
+          _target_: lerobot.common.policies.diffusion.configuration_diffusion.Unet1dEncoderConfig
+          in_channels: 7
+          out_channels: 32
+          history_length: 6
+          kernel_size: 5
+          downsample_kernel_size: 3
+          downsample_stride: 2
+          downsample_padding: 1
+        down_dims:
+        - 256
+        - 512
+        - 1024
+        kernel_size: 5
+        n_groups: 8
+        diffusion_step_embed_dim: 128
+        use_film_scale_modulation: true
+        noise_scheduler_type: DDIM
+        beta_schedule: squaredcos_cap_v2
+        beta_start: 0.0001
+        beta_end: 0.02
+        prediction_type: epsilon
+        clip_sample: true
+        clip_sample_range: 1.0
+        num_train_timesteps: 50
+        num_inference_steps: 10
+        do_mask_loss_for_padding: false
+        input_shapes:
+          observation.image:
+          - 13
+          - 180
+          - 240
+          context_observation.image:
+          - 13
+          - 180
+          - 240
+          observation.state:
+          - 8
+          observation.action_history:
+          - 7
+      train_cfg:
+        _target_: utils.TrainConfig
+        lr: 0.0001
+        lr_scheduler: cosine
+        lr_warmup_steps: 500
+        adam_betas:
+        - 0.95
+        - 0.999
+        adam_eps: 1.0e-08
+        adam_weight_decay: 1.0e-06
+        grad_clip_norm: 10
+        offline_steps: 1000000
+        use_amp: true
+      observation_cfg:
+        _target_: agent.encoder.VisualFeatureSet
+        use_depth: true
+        use_color: true
+        mask_input_dict:
+          _target_: agent.encoder.MaskInputDict
+          enable: true
+          representation: channels
+          mask_list:
+          - EE_obj_mask
+        crop_input_config:
+          _target_: agent.encoder.CropInputConfig
+          color_crop_type: null
+          depth_crop_type: null
+          segmask_crop_type: null
+          crop_hw:
+          - 144
+          - 144
+          crop_down_offset: 48
+          add_crop_binary_mask: false
+          add_coord_conv_map: false
+        context_input_config:
+          _target_: agent.encoder.ContextInputConfig
+          use_color: false
+          use_depth: false
+          mask_input_dict:
+            _target_: agent.encoder.MaskInputDict
+            enable: false
+            representation: channels
+            mask_list:
+            - EE_obj_mask
+          crop_input_config:
+            _target_: agent.encoder.CropInputConfig
+            color_crop_type: null
+            depth_crop_type: null
+            segmask_crop_type: null
+            crop_hw:
+            - 144
+            - 144
+            crop_down_offset: 48
+            add_crop_binary_mask: false
+            add_coord_conv_map: false
+        mask_soft_approx_scheduler_config:
+          _target_: agent.encoder.MaskSoftApproxSchedulerConfig
+          num_steps: 40000
+          initial_value: 10.0
+          final_value: 1000.0
+          interpolation_scheme: cosine
+        use_contact_map: false
+        use_sdf_maps: false
+        use_normals_maps: false
+        which_objects: both
+        grasped_dtc_max_value: 0.2
+        env_dtc_max_value: 0.4
+        grasped_normals_mask_max_dtc_value: 0.2
+        env_normals_mask_max_dtc_value: 0.4
+        clamp_dtc: true
+        max_contact_prob: 0.1
+        mask_normals_within_sdf: true
+        dtc_adaptive_normalization: false
+        adaptive_normals_mask: true
+        max_depth: 2.0
+        image_shape:
+        - 13
+        - 180
+        - 240
+        learnable_contact_preprocess_params: true
+        learning_rate: 0.0001
+        weight_decay: 0.0
+        contact_model_name: local_multitask_outhd64all_home_crop_h144w144d48_mask_ctxtmask_seed_220979_epoch_9
+        zero_centered: false
+      policy_frequency: 5
+      interpolation_frequency: 25
+suite:
+  desc: null
+  value:
+    suite: frankagym
+    name: frankagym
+    frame_stack: 1
+    action_repeat: 1
+    discount: 0.99
+    hidden_dim: 1024
+    num_train_frames: 2010
+    num_seed_frames: 260
+    num_train_epochs: 5000
+    validate_every_epochs: 100
+    validate_diffusion_on_action_loss_every_epochs: 500
+    train_eval_diffusion_on_action_loss_every_epochs: 500
+    check_topk_every_epochs: 10
+    save_snapshot_every_epochs: 5000
+    eval_every_frames: 2000
+    num_eval_episodes: 5
+    save_snapshot: true
+    wait_for_user_to_start_episode: true
+    task_make_fn:
+      _target_: suite.frankagym.make
+      name: FrankaInsertion-v1
+      height: 240
+      width: 320
+      frame_stack: 1
+      action_repeat: 1
+      seed: 0
+      enable_arm: true
+      enable_gripper: true
+      start_with_gripper_open: true
+      enable_camera: true
+      path_to_depth_extrinsics: ~/fish_leon/FISH/cfgs/camera_poses/camera_poses_L515/20240904-122305/color_tf_world.npy
+      contact_estimation_model_ckpt_path: ~/fish_leon/contact_estimation/artifacts/175604_2/checkpoints/epoch=09-val_loss=0.00.ckpt
+      x_limit:
+      - 0.2
+      - 0.7
+      y_limit:
+      - -0.4
+      - 0.4
+      z_limit:
+      - -0.05
+      - 0.55
+      device: cuda
+      interpolation_frequency: 25
+      policy_frequency: 5
+      debug_timestamps: false
+      stop_after_action: false
+      open_loop: false
+      wait_for_new_camera_frames: true
+      action_key: action_trajectory_25hz
+      action_trajectory_horizon: 36
+      action_trajectories: true
+      path_to_zarr_dataset: /home/leonmkim/fish_leon/FISH/expert_demos/frankagym/FrankaInsertion-v1/64_240x320_hbm_twodim_fps_fix_contact_fix_recovery_fix_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act/demos.zarr
+      observation_cfg:
+        _target_: agent.encoder.VisualFeatureSet
+        use_depth: true
+        use_color: true
+        mask_input_dict:
+          _target_: agent.encoder.MaskInputDict
+          enable: true
+          representation: channels
+          mask_list:
+          - EE_obj_mask
+        crop_input_config:
+          _target_: agent.encoder.CropInputConfig
+          color_crop_type: null
+          depth_crop_type: null
+          segmask_crop_type: null
+          crop_hw:
+          - 144
+          - 144
+          crop_down_offset: 48
+          add_crop_binary_mask: false
+          add_coord_conv_map: false
+        context_input_config:
+          _target_: agent.encoder.ContextInputConfig
+          use_color: false
+          use_depth: false
+          mask_input_dict:
+            _target_: agent.encoder.MaskInputDict
+            enable: false
+            representation: channels
+            mask_list:
+            - EE_obj_mask
+          crop_input_config:
+            _target_: agent.encoder.CropInputConfig
+            color_crop_type: null
+            depth_crop_type: null
+            segmask_crop_type: null
+            crop_hw:
+            - 144
+            - 144
+            crop_down_offset: 48
+            add_crop_binary_mask: false
+            add_coord_conv_map: false
+        mask_soft_approx_scheduler_config:
+          _target_: agent.encoder.MaskSoftApproxSchedulerConfig
+          num_steps: 40000
+          initial_value: 10.0
+          final_value: 1000.0
+          interpolation_scheme: cosine
+        use_contact_map: false
+        use_sdf_maps: false
+        use_normals_maps: false
+        which_objects: both
+        grasped_dtc_max_value: 0.2
+        env_dtc_max_value: 0.4
+        grasped_normals_mask_max_dtc_value: 0.2
+        env_normals_mask_max_dtc_value: 0.4
+        clamp_dtc: true
+        max_contact_prob: 0.1
+        mask_normals_within_sdf: true
+        dtc_adaptive_normalization: false
+        adaptive_normals_mask: true
+        max_depth: 2.0
+        image_shape:
+        - 13
+        - 180
+        - 240
+        learnable_contact_preprocess_params: true
+        learning_rate: 0.0001
+        weight_decay: 0.0
+        contact_model_name: local_multitask_outhd64all_home_crop_h144w144d48_mask_ctxtmask_seed_220979_epoch_9
+        zero_centered: false
+      agent_policy_cfg:
+        _target_: agent.diffusion_policy.DiffusionPolicyAgentConfig
+        compile: false
+        device: cuda
+        cam_resize_shape:
+        - 13
+        - 180
+        - 240
+        orig_cam_shape:
+        - 3
+        - 240
+        - 320
+        policy_cfg:
+          _target_: lerobot.common.policies.diffusion.configuration_diffusion.DiffusionConfig
+          n_obs_steps: 1
+          horizon: 36
+          n_action_steps: 36
+          output_shapes:
+            action:
+            - 7
+          input_normalization_modes:
+            observation.image: mean_std
+            observation.state: min_max
+            observation.action_history: min_max
+          output_normalization_modes:
+            action: min_max
+          vision_backbone: resnet18
+          pretrained_backbone_weights: null
+          transforms:
+          - _target_: torchaug.transforms.RandomAffine
+            degrees:
+            - -5
+            - 5
+            translate:
+            - 0.05
+            - 0.05
+            batch_transform: true
+            num_chunks: -1
+            batch_inplace: true
+          - _target_: torchaug.transforms.RandomColorJitter
+            brightness: 0.3
+            contrast: 0.4
+            saturation: 0.5
+            hue: 0.08
+            batch_transform: true
+            num_chunks: -1
+            batch_inplace: true
+          use_group_norm: true
+          spatial_softmax_num_keypoints: 32
+          action_history_encoder_config:
+            _target_: lerobot.common.policies.diffusion.configuration_diffusion.Unet1dEncoderConfig
+            in_channels: 7
+            out_channels: 32
+            history_length: 6
+            kernel_size: 5
+            downsample_kernel_size: 3
+            downsample_stride: 2
+            downsample_padding: 1
+          down_dims:
+          - 256
+          - 512
+          - 1024
+          kernel_size: 5
+          n_groups: 8
+          diffusion_step_embed_dim: 128
+          use_film_scale_modulation: true
+          noise_scheduler_type: DDIM
+          beta_schedule: squaredcos_cap_v2
+          beta_start: 0.0001
+          beta_end: 0.02
+          prediction_type: epsilon
+          clip_sample: true
+          clip_sample_range: 1.0
+          num_train_timesteps: 50
+          num_inference_steps: 10
+          do_mask_loss_for_padding: false
+          input_shapes:
+            observation.image:
+            - 13
+            - 180
+            - 240
+            context_observation.image:
+            - 13
+            - 180
+            - 240
+            observation.state:
+            - 8
+            observation.action_history:
+            - 7
+        train_cfg:
+          _target_: utils.TrainConfig
+          lr: 0.0001
+          lr_scheduler: cosine
+          lr_warmup_steps: 500
+          adam_betas:
+          - 0.95
+          - 0.999
+          adam_eps: 1.0e-08
+          adam_weight_decay: 1.0e-06
+          grad_clip_norm: 10
+          offline_steps: 1000000
+          use_amp: true
+        observation_cfg:
+          _target_: agent.encoder.VisualFeatureSet
+          use_depth: true
+          use_color: true
+          mask_input_dict:
+            _target_: agent.encoder.MaskInputDict
+            enable: true
+            representation: channels
+            mask_list:
+            - EE_obj_mask
+          crop_input_config:
+            _target_: agent.encoder.CropInputConfig
+            color_crop_type: null
+            depth_crop_type: null
+            segmask_crop_type: null
+            crop_hw:
+            - 144
+            - 144
+            crop_down_offset: 48
+            add_crop_binary_mask: false
+            add_coord_conv_map: false
+          context_input_config:
+            _target_: agent.encoder.ContextInputConfig
+            use_color: false
+            use_depth: false
+            mask_input_dict:
+              _target_: agent.encoder.MaskInputDict
+              enable: false
+              representation: channels
+              mask_list:
+              - EE_obj_mask
+            crop_input_config:
+              _target_: agent.encoder.CropInputConfig
+              color_crop_type: null
+              depth_crop_type: null
+              segmask_crop_type: null
+              crop_hw:
+              - 144
+              - 144
+              crop_down_offset: 48
+              add_crop_binary_mask: false
+              add_coord_conv_map: false
+          mask_soft_approx_scheduler_config:
+            _target_: agent.encoder.MaskSoftApproxSchedulerConfig
+            num_steps: 40000
+            initial_value: 10.0
+            final_value: 1000.0
+            interpolation_scheme: cosine
+          use_contact_map: false
+          use_sdf_maps: false
+          use_normals_maps: false
+          which_objects: both
+          grasped_dtc_max_value: 0.2
+          env_dtc_max_value: 0.4
+          grasped_normals_mask_max_dtc_value: 0.2
+          env_normals_mask_max_dtc_value: 0.4
+          clamp_dtc: true
+          max_contact_prob: 0.1
+          mask_normals_within_sdf: true
+          dtc_adaptive_normalization: false
+          adaptive_normals_mask: true
+          max_depth: 2.0
+          image_shape:
+          - 13
+          - 180
+          - 240
+          learnable_contact_preprocess_params: true
+          learning_rate: 0.0001
+          weight_decay: 0.0
+          contact_model_name: local_multitask_outhd64all_home_crop_h144w144d48_mask_ctxtmask_seed_220979_epoch_9
+          zero_centered: false
+        policy_frequency: 5
+        interpolation_frequency: 25
+      true_action_history: false
+num_train_frames_bc:
+  desc: null
+  value: 50000
+num_train_frames_drq:
+  desc: null
+  value: 1100000
+stddev_schedule_drq:
+  desc: null
+  value: linear(1.0,0.1,100000)
+task_name:
+  desc: null
+  value: FrankaInsertion-v1
+num_train_frames_vinn:
+  desc: null
+  value: 25000
+num_train_frames_diffusion:
+  desc: null
+  value: 1000000
+num_train_epochs_bc:
+  desc: null
+  value: 5000
+num_train_epochs_diffusion:
+  desc: null
+  value: 15000
+validate_every_epochs_bc:
+  desc: null
+  value: 5
+validate_every_epochs_diffusion:
+  desc: null
+  value: 250
+validate_diffusion_on_action_loss_every_epochs:
+  desc: null
+  value: 250
+train_eval_diffusion_on_action_loss_every_epochs:
+  desc: null
+  value: 250
+check_topk_every_epochs:
+  desc: null
+  value: 5
+check_topk_every_epochs_diffusion:
+  desc: null
+  value: 250
+save_snapshot_every_epochs_diffusion:
+  desc: null
+  value: 1500
+x_limit:
+  desc: null
+  value:
+  - 0.2
+  - 0.7
+y_limit:
+  desc: null
+  value:
+  - -0.4
+  - 0.4
+z_limit:
+  desc: null
+  value:
+  - -0.05
+  - 0.55
+home_displacement:
+  desc: null
+  value:
+  - 0.55
+  - 0.0
+  - 0.55
+  - 180.0
+  - 0.0
+  - 0.0
+enable_gripper:
+  desc: null
+  value: true
+start_with_gripper_open:
+  desc: null
+  value: true
+offset_mask:
+  desc: null
+  value:
+  - 1
+  - 1
+  - 1
+  - 1
+  - 1
+  - 1
+path_to_depth_extrinsics:
+  desc: null
+  value: ~/fish_leon/FISH/cfgs/camera_poses/camera_poses_L515/20240904-122305/color_tf_world.npy
+feature_type:
+  desc: null
+  value: 180x240_1_RGB_D_2.0_msk_channels_EE_obj_mask_acthst_hst6_out32_dwnkrnl3_dwnstrd2_dwnpd1
+save_buffer:
+  desc: null
+  value: true
+num_eval:
+  desc: null
+  value: 5
+random_start:
+  desc: null
+  value: false
+eval_starts:
+  desc: null
+  value: /home/leonmkim/fish_leon/FISH/eval_starts/frankagym_pixels/FrankaInsertion-v1
+num_valid_demos:
+  desc: null
+  value: null
+load_checkpoint:
+  desc: null
+  value: true
+true_action_history:
+  desc: null
+  value: false
+checkpoint_epoch:
+  desc: null
+  value: 12000
+load_residual_weight:
+  desc: null
+  value: false
+checkpoint_root_dir:
+  desc: null
+  value: /home/leonmkim/fish_leon/FISH
+checkpoint_weight_dir:
+  desc: null
+  value: /home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/265626
+residual_weight:
+  desc: null
+  value: /home/leonmkim/fish_leon/FISH/weights/frankagym_pixels/FrankaInsertion-v1/weight.pt
+_wandb:
+  desc: null
+  value:
+    code_path: code/FISH/eval_robot.py
+    python_version: 3.10.14
+    cli_version: 0.17.5
+    framework: torch
+    is_jupyter_run: false
+    is_kaggle_kernel: false
+    start_time: 1733882654
+    t:
+      1:
+      - 1
+      - 41
+      - 49
+      - 50
+      - 55
+      - 83
+      2:
+      - 1
+      - 41
+      - 49
+      - 50
+      - 55
+      - 83
+      3:
+      - 16
+      - 23
+      - 35
+      4: 3.10.14
+      5: 0.17.5
+      8:
+      - 5
+      13: linux-x86_64
+grasped_obj_name:
+  desc: null
+  value: hbm
+left_book_slot:
+  desc: null
+  value: twodim

210407/wandb/run-20241210_210414-ob7chcle/files/diff.patch

@@ -0,0 +1,47 @@
+diff --git a/FISH/cfgs/config_eval.yaml b/FISH/cfgs/config_eval.yaml
+index a9568e3..aa52de5 100644
+--- a/FISH/cfgs/config_eval.yaml
++++ b/FISH/cfgs/config_eval.yaml
+@@ -123,6 +123,11 @@ bc_weight_type: 'qfilter' # linear, qfilter
+ 
+ # Load weights
+ load_checkpoint: ${agent.load_checkpoint}
++# 64_240x320_hbm_twodim_fps_fix_contact_fix_recovery_fix_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act
++# full dataset
++wandb_run_id: "265626" # RGBD+Mask+act history
++# wandb_run_id: "265628" # RGBD+Mask+contact+act history
++
+ # 54_240x320_hbm_twodim_fps_fix_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act
+ # full dataset
+ # 6 step action history
+@@ -135,7 +140,7 @@ load_checkpoint: ${agent.load_checkpoint}
+ # wandb_run_id: '264772_0' # RGBD+act history
+ # wandb_run_id: '264775_0' # RGBD+mask+act history
+ # wandb_run_id: '264776_0' # RGBD+contact+act history
+-wandb_run_id: '264777_0' # RGBD+mask+contact+act history
++# wandb_run_id: '264777_0' # RGBD+mask+contact+act history
+ 
+ # 54_240x320_hbm_twodim_fps_fix_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act
+ # 16 held out demos
+@@ -151,7 +156,7 @@ wandb_run_id: '264777_0' # RGBD+mask+contact+act history
+ # wandb_run_id: '250380_0' # RGBD+mask+contact+act history
+ # wandb_run_id: '250370_0' # RGBD+contact+act history
+ 
+-true_action_history: true
++true_action_history: false
+ wandb_notes: null
+ 
+ checkpoint_epoch: 12000 # for depth + all contact
+diff --git a/gym-envs/gym_envs/envs/hardware/franka.py b/gym-envs/gym_envs/envs/hardware/franka.py
+index 26f8ae3..4536380 100644
+--- a/gym-envs/gym_envs/envs/hardware/franka.py
++++ b/gym-envs/gym_envs/envs/hardware/franka.py
+@@ -627,7 +627,7 @@ class Franka:
+ 			# 	# append the gripper actions to the end of the 6d actions
+ 			# 	plan_dict['action_trajectory'] = np.concatenate((plan_dict['action_trajectory'], np.array(plan.gripper_action_trajectory).astype(np.float32)), axis=1)
+ 			# plan_dict['action_period'] = plan.action_period
+-			self.plan_queue.add(plan.header, plan.obs_header.stamp, plan_dataclass)
++			self.plan_queue.add(plan.header, plan.obs_anchor_header.stamp, plan_dataclass)
+ 		else:
+ 			rospy.logwarn('In process of resetting, ignoring plan')
+ 			pass

210407/wandb/run-20241210_210414-ob7chcle/files/media/videos/eval/0_eval_0_242331cb3a64f66021df.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:242331cb3a64f66021dfad95eeae9d0d8610c587d62363724138c291f7e496ce
+size 1091529

210407/wandb/run-20241210_210414-ob7chcle/files/output.log

@@ -0,0 +1,1285 @@
+
+loaded agent with feature_type: 180x240_1_RGB_D_2.0_msk_channels_EE_obj_mask_acthst_hst6_out32_dwnkrnl3_dwnstrd2_dwnpd1
+[INFO] [1733882708.019009]: resetting environment
+[INFO] [1733882708.023743]: cleared current plan
+[INFO] [1733882708.024913]: moving to home
+[INFO] [1733882709.729667]: reached home
+[INFO] [1733882709.731097]: reset action history
+[INFO] [1733882712.439471]: environment reset
+Starting episode 0
+[INFO] [1733882712.442006]: resetting environment
+[INFO] [1733882712.445620]: cleared current plan
+[INFO] [1733882712.446719]: moving to home
+[INFO] [1733882713.448835]: reached home
+[INFO] [1733882713.450003]: reset action history
+[INFO] [1733882716.159782]: environment reset
+Press Enter to continue... after reseting env. To rate prev episode, press 0 for failure and 1 for success
+proceeding to start episode!
+[INFO] [1733882717.586598]: resetting environment
+[INFO] [1733882717.593480]: cleared current plan
+[INFO] [1733882717.594324]: moving to home
+[INFO] [1733882718.596403]: reached home
+[INFO] [1733882718.597975]: reset action history
+[INFO] [1733882721.306381]: environment reset
+bag_path_name:=/home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/265626/210407/episode_rosbags/episode_0_2024-12-10-21-05-21.bag
+... logging to /home/leonmkim/.ros/log/1408e5ba-b74f-11ef-9a34-5546d6409a19/roslaunch-leonmkim-ROG-Strix-G15CS-G15CS-599894.log
+started roslaunch server http://158.130.50.37:44529/
+SUMMARY
+========
+PARAMETERS
+ * /rosdistro: noetic
+ * /rosversion: 1.16.0
+NODES
+  /
+    print_text (rostopic/rostopic)
+    pub_text (rostopic/rostopic)
+    rosbag_record (rosbag/record)
+ROS_MASTER_URI=http://localhost:11311
+process[pub_text-1]: started with pid [600194]
+process[print_text-2]: started with pid [600218]
+process[rosbag_record-3]: started with pid [600219]
+started bagging!
+[INFO] [1733882722.053888]: received mask_obs with header seq: 114
+stamp:
+  secs: 1733882722
+  nsecs:  48879146
+frame_id: '' and grasped_object_mask header seq: 31506
+stamp:
+  secs: 1733882721
+  nsecs: 834905148
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882722.242116]: received mask_obs with header seq: 115
+stamp:
+  secs: 1733882722
+  nsecs: 242531061
+frame_id: '' and grasped_object_mask header seq: 31512
+stamp:
+  secs: 1733882722
+  nsecs:  34748554
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882722.438313]: received mask_obs with header seq: 116
+stamp:
+  secs: 1733882722
+  nsecs: 438178777
+frame_id: '' and grasped_object_mask header seq: 31518
+stamp:
+  secs: 1733882722
+  nsecs: 234591007
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882722.642956]: received mask_obs with header seq: 117
+stamp:
+  secs: 1733882722
+  nsecs: 643582820
+frame_id: '' and grasped_object_mask header seq: 31524
+stamp:
+  secs: 1733882722
+  nsecs: 434433460
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882722.855864]: received mask_obs with header seq: 118
+stamp:
+  secs: 1733882722
+  nsecs: 856016874
+frame_id: '' and grasped_object_mask header seq: 31530
+stamp:
+  secs: 1733882722
+  nsecs: 634273052
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882723.043437]: received mask_obs with header seq: 119
+stamp:
+  secs: 1733882723
+  nsecs:  44147491
+frame_id: '' and grasped_object_mask header seq: 31536
+stamp:
+  secs: 1733882722
+  nsecs: 834112883
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882723.255068]: received mask_obs with header seq: 120
+stamp:
+  secs: 1733882723
+  nsecs: 255773782
+frame_id: '' and grasped_object_mask header seq: 31542
+stamp:
+  secs: 1733882723
+  nsecs:  33952713
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882723.457205]: received mask_obs with header seq: 121
+stamp:
+  secs: 1733882723
+  nsecs: 457902193
+frame_id: '' and grasped_object_mask header seq: 31548
+stamp:
+  secs: 1733882723
+  nsecs: 233793497
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882723.672633]: received mask_obs with header seq: 122
+stamp:
+  secs: 1733882723
+  nsecs: 673328876
+frame_id: '' and grasped_object_mask header seq: 31554
+stamp:
+  secs: 1733882723
+  nsecs: 433632374
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882723.868197]: received mask_obs with header seq: 123
+stamp:
+  secs: 1733882723
+  nsecs: 868912935
+frame_id: '' and grasped_object_mask header seq: 31560
+stamp:
+  secs: 1733882723
+  nsecs: 633465290
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882724.063814]: received mask_obs with header seq: 124
+stamp:
+  secs: 1733882724
+  nsecs:  64529418
+frame_id: '' and grasped_object_mask header seq: 31566
+stamp:
+  secs: 1733882723
+  nsecs: 833298206
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882724.270881]: received mask_obs with header seq: 125
+stamp:
+  secs: 1733882724
+  nsecs: 271565675
+frame_id: '' and grasped_object_mask header seq: 31572
+stamp:
+  secs: 1733882724
+  nsecs:  33130884
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882724.456985]: received mask_obs with header seq: 126
+stamp:
+  secs: 1733882724
+  nsecs: 457637548
+frame_id: '' and grasped_object_mask header seq: 31578
+stamp:
+  secs: 1733882724
+  nsecs: 232963324
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882724.651581]: received mask_obs with header seq: 127
+stamp:
+  secs: 1733882724
+  nsecs: 652227878
+frame_id: '' and grasped_object_mask header seq: 31584
+stamp:
+  secs: 1733882724
+  nsecs: 432796717
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882724.870804]: received mask_obs with header seq: 128
+stamp:
+  secs: 1733882724
+  nsecs: 871049642
+frame_id: '' and grasped_object_mask header seq: 31590
+stamp:
+  secs: 1733882724
+  nsecs: 632633924
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882725.075478]: received mask_obs with header seq: 129
+stamp:
+  secs: 1733882725
+  nsecs:  76172590
+frame_id: '' and grasped_object_mask header seq: 31596
+stamp:
+  secs: 1733882724
+  nsecs: 832470655
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882725.273276]: received mask_obs with header seq: 130
+stamp:
+  secs: 1733882725
+  nsecs: 273989677
+frame_id: '' and grasped_object_mask header seq: 31602
+stamp:
+  secs: 1733882725
+  nsecs:  32306910
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882725.473219]: received mask_obs with header seq: 131
+stamp:
+  secs: 1733882725
+  nsecs: 473895311
+frame_id: '' and grasped_object_mask header seq: 31608
+stamp:
+  secs: 1733882725
+  nsecs: 232143402
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882725.658554]: received mask_obs with header seq: 132
+stamp:
+  secs: 1733882725
+  nsecs: 659076929
+frame_id: '' and grasped_object_mask header seq: 31614
+stamp:
+  secs: 1733882725
+  nsecs: 431979418
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882725.861954]: received mask_obs with header seq: 133
+stamp:
+  secs: 1733882725
+  nsecs: 862345933
+frame_id: '' and grasped_object_mask header seq: 31620
+stamp:
+  secs: 1733882725
+  nsecs: 631814957
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882726.058597]: received mask_obs with header seq: 134
+stamp:
+  secs: 1733882726
+  nsecs:  58791875
+frame_id: '' and grasped_object_mask header seq: 31626
+stamp:
+  secs: 1733882725
+  nsecs: 831651449
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882726.259522]: received mask_obs with header seq: 135
+stamp:
+  secs: 1733882726
+  nsecs: 259843826
+frame_id: '' and grasped_object_mask header seq: 31632
+stamp:
+  secs: 1733882726
+  nsecs:  31486511
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882726.464562]: received mask_obs with header seq: 136
+stamp:
+  secs: 1733882726
+  nsecs: 465265750
+frame_id: '' and grasped_object_mask header seq: 31638
+stamp:
+  secs: 1733882726
+  nsecs: 231322050
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882726.657005]: received mask_obs with header seq: 137
+stamp:
+  secs: 1733882726
+  nsecs: 657728195
+frame_id: '' and grasped_object_mask header seq: 31644
+stamp:
+  secs: 1733882726
+  nsecs: 431157827
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882726.853767]: received mask_obs with header seq: 138
+stamp:
+  secs: 1733882726
+  nsecs: 853689193
+frame_id: '' and grasped_object_mask header seq: 31650
+stamp:
+  secs: 1733882726
+  nsecs: 630995035
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882727.054479]: received mask_obs with header seq: 139
+stamp:
+  secs: 1733882727
+  nsecs:  54865360
+frame_id: '' and grasped_object_mask header seq: 31656
+stamp:
+  secs: 1733882726
+  nsecs: 830832481
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882727.252600]: received mask_obs with header seq: 140
+stamp:
+  secs: 1733882727
+  nsecs: 252785444
+frame_id: '' and grasped_object_mask header seq: 31662
+stamp:
+  secs: 1733882727
+  nsecs:  30670881
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882727.462991]: received mask_obs with header seq: 141
+stamp:
+  secs: 1733882727
+  nsecs: 463722467
+frame_id: '' and grasped_object_mask header seq: 31668
+stamp:
+  secs: 1733882727
+  nsecs: 230508089
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882727.659335]: received mask_obs with header seq: 142
+stamp:
+  secs: 1733882727
+  nsecs: 660079240
+frame_id: '' and grasped_object_mask header seq: 31674
+stamp:
+  secs: 1733882727
+  nsecs: 430346251
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882727.878530]: received mask_obs with header seq: 143
+stamp:
+  secs: 1733882727
+  nsecs: 878180265
+frame_id: '' and grasped_object_mask header seq: 31680
+stamp:
+  secs: 1733882727
+  nsecs: 630188227
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882728.099251]: received mask_obs with header seq: 144
+stamp:
+  secs: 1733882728
+  nsecs:  99953413
+frame_id: '' and grasped_object_mask header seq: 31687
+stamp:
+  secs: 1733882727
+  nsecs: 863338232
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882728.290529]: received mask_obs with header seq: 145
+stamp:
+  secs: 1733882728
+  nsecs: 290887117
+frame_id: '' and grasped_object_mask header seq: 31693
+stamp:
+  secs: 1733882728
+  nsecs:  63180685
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882728.493851]: received mask_obs with header seq: 146
+stamp:
+  secs: 1733882728
+  nsecs: 494552135
+frame_id: '' and grasped_object_mask header seq: 31699
+stamp:
+  secs: 1733882728
+  nsecs: 263023138
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882728.705236]: received mask_obs with header seq: 147
+stamp:
+  secs: 1733882728
+  nsecs: 705916881
+frame_id: '' and grasped_object_mask header seq: 31705
+stamp:
+  secs: 1733882728
+  nsecs: 462864399
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882728.907349]: received mask_obs with header seq: 148
+stamp:
+  secs: 1733882728
+  nsecs: 907902240
+frame_id: '' and grasped_object_mask header seq: 31711
+stamp:
+  secs: 1733882728
+  nsecs: 662702799
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882729.123544]: received mask_obs with header seq: 149
+stamp:
+  secs: 1733882729
+  nsecs: 124239444
+frame_id: '' and grasped_object_mask header seq: 31718
+stamp:
+  secs: 1733882728
+  nsecs: 895848036
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882729.338554]: received mask_obs with header seq: 150
+stamp:
+  secs: 1733882729
+  nsecs: 339276552
+frame_id: '' and grasped_object_mask header seq: 31724
+stamp:
+  secs: 1733882729
+  nsecs:  95686436
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882729.520767]: received mask_obs with header seq: 151
+stamp:
+  secs: 1733882729
+  nsecs: 520812273
+frame_id: '' and grasped_object_mask header seq: 31730
+stamp:
+  secs: 1733882729
+  nsecs: 295524836
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882729.713979]: received mask_obs with header seq: 152
+stamp:
+  secs: 1733882729
+  nsecs: 714640617
+frame_id: '' and grasped_object_mask header seq: 31736
+stamp:
+  secs: 1733882729
+  nsecs: 495365620
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882729.913416]: received mask_obs with header seq: 153
+stamp:
+  secs: 1733882729
+  nsecs: 913074016
+frame_id: '' and grasped_object_mask header seq: 31741
+stamp:
+  secs: 1733882729
+  nsecs: 661899090
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882730.108793]: received mask_obs with header seq: 154
+stamp:
+  secs: 1733882730
+  nsecs: 109471797
+frame_id: '' and grasped_object_mask header seq: 31747
+stamp:
+  secs: 1733882729
+  nsecs: 861740589
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882730.302778]: received mask_obs with header seq: 155
+stamp:
+  secs: 1733882730
+  nsecs: 303365468
+frame_id: '' and grasped_object_mask header seq: 31753
+stamp:
+  secs: 1733882730
+  nsecs:  61582804
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882730.489773]: received mask_obs with header seq: 156
+stamp:
+  secs: 1733882730
+  nsecs: 490137338
+frame_id: '' and grasped_object_mask header seq: 31759
+stamp:
+  secs: 1733882730
+  nsecs: 261424303
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882730.688014]: received mask_obs with header seq: 157
+stamp:
+  secs: 1733882730
+  nsecs: 688325881
+frame_id: '' and grasped_object_mask header seq: 31765
+stamp:
+  secs: 1733882730
+  nsecs: 461265564
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882730.890480]: received mask_obs with header seq: 158
+stamp:
+  secs: 1733882730
+  nsecs: 890745401
+frame_id: '' and grasped_object_mask header seq: 31771
+stamp:
+  secs: 1733882730
+  nsecs: 661106586
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882731.091830]: received mask_obs with header seq: 159
+stamp:
+  secs: 1733882731
+  nsecs:  92510223
+frame_id: '' and grasped_object_mask header seq: 31777
+stamp:
+  secs: 1733882730
+  nsecs: 860948324
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882731.285396]: received mask_obs with header seq: 160
+stamp:
+  secs: 1733882731
+  nsecs: 286172151
+frame_id: '' and grasped_object_mask header seq: 31783
+stamp:
+  secs: 1733882731
+  nsecs:  60789824
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882731.483410]: received mask_obs with header seq: 161
+stamp:
+  secs: 1733882731
+  nsecs: 484132289
+frame_id: '' and grasped_object_mask header seq: 31789
+stamp:
+  secs: 1733882731
+  nsecs: 260632753
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882731.681967]: received mask_obs with header seq: 162
+stamp:
+  secs: 1733882731
+  nsecs: 682367324
+frame_id: '' and grasped_object_mask header seq: 31795
+stamp:
+  secs: 1733882731
+  nsecs: 460474491
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882731.881424]: received mask_obs with header seq: 163
+stamp:
+  secs: 1733882731
+  nsecs: 882004022
+frame_id: '' and grasped_object_mask header seq: 31801
+stamp:
+  secs: 1733882731
+  nsecs: 660314560
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882732.080389]: received mask_obs with header seq: 164
+stamp:
+  secs: 1733882732
+  nsecs:  80821037
+frame_id: '' and grasped_object_mask header seq: 31807
+stamp:
+  secs: 1733882731
+  nsecs: 860154390
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882732.276461]: received mask_obs with header seq: 165
+stamp:
+  secs: 1733882732
+  nsecs: 277194499
+frame_id: '' and grasped_object_mask header seq: 31813
+stamp:
+  secs: 1733882732
+  nsecs:  59993982
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882732.475675]: received mask_obs with header seq: 166
+stamp:
+  secs: 1733882732
+  nsecs: 475312232
+frame_id: '' and grasped_object_mask header seq: 31819
+stamp:
+  secs: 1733882732
+  nsecs: 259833813
+frame_id: "camera_color_optical_frame"
+For topic gripper_width: timestamp difference is -224012663 for nearest: 1733882732235661457 - target: 1733882732459674120 at idx 157
+[INFO] [1733882732.668931]: received mask_obs with header seq: 167
+stamp:
+  secs: 1733882732
+  nsecs: 669728040
+frame_id: '' and grasped_object_mask header seq: 31824
+stamp:
+  secs: 1733882732
+  nsecs: 426367521
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882732.859527]: received mask_obs with header seq: 168
+stamp:
+  secs: 1733882732
+  nsecs: 860039234
+frame_id: '' and grasped_object_mask header seq: 31830
+stamp:
+  secs: 1733882732
+  nsecs: 626210690
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882733.058874]: received mask_obs with header seq: 169
+stamp:
+  secs: 1733882733
+  nsecs:  59504032
+frame_id: '' and grasped_object_mask header seq: 31836
+stamp:
+  secs: 1733882732
+  nsecs: 826054335
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882733.279345]: received mask_obs with header seq: 170
+stamp:
+  secs: 1733882733
+  nsecs: 279613733
+frame_id: '' and grasped_object_mask header seq: 31842
+stamp:
+  secs: 1733882733
+  nsecs:  25898457
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882733.474381]: received mask_obs with header seq: 171
+stamp:
+  secs: 1733882733
+  nsecs: 474082469
+frame_id: '' and grasped_object_mask header seq: 31849
+stamp:
+  secs: 1733882733
+  nsecs: 259050369
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882733.681119]: received mask_obs with header seq: 172
+stamp:
+  secs: 1733882733
+  nsecs: 681621789
+frame_id: '' and grasped_object_mask header seq: 31855
+stamp:
+  secs: 1733882733
+  nsecs: 458893776
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882733.879652]: received mask_obs with header seq: 173
+stamp:
+  secs: 1733882733
+  nsecs: 880379438
+frame_id: '' and grasped_object_mask header seq: 31861
+stamp:
+  secs: 1733882733
+  nsecs: 658732653
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882734.076964]: received mask_obs with header seq: 174
+stamp:
+  secs: 1733882734
+  nsecs:  77689647
+frame_id: '' and grasped_object_mask header seq: 31866
+stamp:
+  secs: 1733882733
+  nsecs: 825265646
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882734.274835]: received mask_obs with header seq: 175
+stamp:
+  secs: 1733882734
+  nsecs: 275566339
+frame_id: '' and grasped_object_mask header seq: 31873
+stamp:
+  secs: 1733882734
+  nsecs:  58411598
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882734.475413]: received mask_obs with header seq: 176
+stamp:
+  secs: 1733882734
+  nsecs: 475030899
+frame_id: '' and grasped_object_mask header seq: 31879
+stamp:
+  secs: 1733882734
+  nsecs: 258250475
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882734.684631]: received mask_obs with header seq: 177
+stamp:
+  secs: 1733882734
+  nsecs: 684263467
+frame_id: '' and grasped_object_mask header seq: 31885
+stamp:
+  secs: 1733882734
+  nsecs: 458089352
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882734.881454]: received mask_obs with header seq: 178
+stamp:
+  secs: 1733882734
+  nsecs: 882217168
+frame_id: '' and grasped_object_mask header seq: 31891
+stamp:
+  secs: 1733882734
+  nsecs: 657929182
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882735.078412]: received mask_obs with header seq: 179
+stamp:
+  secs: 1733882735
+  nsecs:  78201293
+frame_id: '' and grasped_object_mask header seq: 31897
+stamp:
+  secs: 1733882734
+  nsecs: 857769251
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882735.276782]: received mask_obs with header seq: 180
+stamp:
+  secs: 1733882735
+  nsecs: 277486085
+frame_id: '' and grasped_object_mask header seq: 31903
+stamp:
+  secs: 1733882735
+  nsecs:  57610035
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882735.473451]: received mask_obs with header seq: 181
+stamp:
+  secs: 1733882735
+  nsecs: 473750829
+frame_id: '' and grasped_object_mask header seq: 31909
+stamp:
+  secs: 1733882735
+  nsecs: 257450104
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882735.673778]: received mask_obs with header seq: 182
+stamp:
+  secs: 1733882735
+  nsecs: 672456741
+frame_id: '' and grasped_object_mask header seq: 31915
+stamp:
+  secs: 1733882735
+  nsecs: 457290173
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882735.878548]: received mask_obs with header seq: 183
+stamp:
+  secs: 1733882735
+  nsecs: 879298925
+frame_id: '' and grasped_object_mask header seq: 31921
+stamp:
+  secs: 1733882735
+  nsecs: 657128334
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882736.076265]: received mask_obs with header seq: 184
+stamp:
+  secs: 1733882736
+  nsecs:  77043294
+frame_id: '' and grasped_object_mask header seq: 31927
+stamp:
+  secs: 1733882735
+  nsecs: 856966734
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882736.278515]: received mask_obs with header seq: 185
+stamp:
+  secs: 1733882736
+  nsecs: 277301549
+frame_id: '' and grasped_object_mask header seq: 31933
+stamp:
+  secs: 1733882736
+  nsecs:  56804895
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882736.471332]: received mask_obs with header seq: 186
+stamp:
+  secs: 1733882736
+  nsecs: 471755981
+frame_id: '' and grasped_object_mask header seq: 31939
+stamp:
+  secs: 1733882736
+  nsecs: 256644011
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882736.664083]: received mask_obs with header seq: 187
+stamp:
+  secs: 1733882736
+  nsecs: 664746999
+frame_id: '' and grasped_object_mask header seq: 31944
+stamp:
+  secs: 1733882736
+  nsecs: 423175335
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882736.856564]: received mask_obs with header seq: 188
+stamp:
+  secs: 1733882736
+  nsecs: 857145786
+frame_id: '' and grasped_object_mask header seq: 31950
+stamp:
+  secs: 1733882736
+  nsecs: 623027086
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882737.054379]: received mask_obs with header seq: 189
+stamp:
+  secs: 1733882737
+  nsecs:  54893493
+frame_id: '' and grasped_object_mask header seq: 31956
+stamp:
+  secs: 1733882736
+  nsecs: 822880268
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882737.253503]: received mask_obs with header seq: 190
+stamp:
+  secs: 1733882737
+  nsecs: 254244327
+frame_id: '' and grasped_object_mask header seq: 31962
+stamp:
+  secs: 1733882737
+  nsecs:  22733212
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882737.452823]: received mask_obs with header seq: 191
+stamp:
+  secs: 1733882737
+  nsecs: 453443765
+frame_id: '' and grasped_object_mask header seq: 31968
+stamp:
+  secs: 1733882737
+  nsecs: 222586632
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882737.657336]: received mask_obs with header seq: 192
+stamp:
+  secs: 1733882737
+  nsecs: 657974243
+frame_id: '' and grasped_object_mask header seq: 31974
+stamp:
+  secs: 1733882737
+  nsecs: 422440529
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882737.851166]: received mask_obs with header seq: 193
+stamp:
+  secs: 1733882737
+  nsecs: 851891756
+frame_id: '' and grasped_object_mask header seq: 31980
+stamp:
+  secs: 1733882737
+  nsecs: 622284889
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882738.050410]: received mask_obs with header seq: 194
+stamp:
+  secs: 1733882738
+  nsecs:  51139116
+frame_id: '' and grasped_object_mask header seq: 31986
+stamp:
+  secs: 1733882737
+  nsecs: 822129726
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882738.252615]: received mask_obs with header seq: 195
+stamp:
+  secs: 1733882738
+  nsecs: 253381729
+frame_id: '' and grasped_object_mask header seq: 31992
+stamp:
+  secs: 1733882738
+  nsecs:  21975756
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882738.461679]: received mask_obs with header seq: 196
+stamp:
+  secs: 1733882738
+  nsecs: 462370157
+frame_id: '' and grasped_object_mask header seq: 31998
+stamp:
+  secs: 1733882738
+  nsecs: 221821308
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882738.654291]: received mask_obs with header seq: 197
+stamp:
+  secs: 1733882738
+  nsecs: 654976367
+frame_id: '' and grasped_object_mask header seq: 32004
+stamp:
+  secs: 1733882738
+  nsecs: 421667337
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882738.850199]: received mask_obs with header seq: 198
+stamp:
+  secs: 1733882738
+  nsecs: 850958347
+frame_id: '' and grasped_object_mask header seq: 32010
+stamp:
+  secs: 1733882738
+  nsecs: 621500492
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882739.049589]: received mask_obs with header seq: 199
+stamp:
+  secs: 1733882739
+  nsecs:  49774408
+frame_id: '' and grasped_object_mask header seq: 32016
+stamp:
+  secs: 1733882738
+  nsecs: 821333647
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882739.252296]: received mask_obs with header seq: 200
+stamp:
+  secs: 1733882739
+  nsecs: 252633094
+frame_id: '' and grasped_object_mask header seq: 32022
+stamp:
+  secs: 1733882739
+  nsecs:  21167040
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882739.456659]: received mask_obs with header seq: 201
+stamp:
+  secs: 1733882739
+  nsecs: 457164287
+frame_id: '' and grasped_object_mask header seq: 32028
+stamp:
+  secs: 1733882739
+  nsecs: 220999718
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882739.656339]: received mask_obs with header seq: 202
+stamp:
+  secs: 1733882739
+  nsecs: 657097578
+frame_id: '' and grasped_object_mask header seq: 32034
+stamp:
+  secs: 1733882739
+  nsecs: 420833826
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882739.855413]: received mask_obs with header seq: 203
+stamp:
+  secs: 1733882739
+  nsecs: 856137990
+frame_id: '' and grasped_object_mask header seq: 32040
+stamp:
+  secs: 1733882739
+  nsecs: 620669603
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882740.050060]: received mask_obs with header seq: 204
+stamp:
+  secs: 1733882740
+  nsecs:  50755262
+frame_id: '' and grasped_object_mask header seq: 32046
+stamp:
+  secs: 1733882739
+  nsecs: 820505619
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882740.255058]: received mask_obs with header seq: 205
+stamp:
+  secs: 1733882740
+  nsecs: 255806922
+frame_id: '' and grasped_object_mask header seq: 32052
+stamp:
+  secs: 1733882740
+  nsecs:  20341158
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882740.463739]: received mask_obs with header seq: 206
+stamp:
+  secs: 1733882740
+  nsecs: 464346647
+frame_id: '' and grasped_object_mask header seq: 32058
+stamp:
+  secs: 1733882740
+  nsecs: 220176458
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882740.659454]: received mask_obs with header seq: 207
+stamp:
+  secs: 1733882740
+  nsecs: 659945487
+frame_id: '' and grasped_object_mask header seq: 32064
+stamp:
+  secs: 1733882740
+  nsecs: 420011520
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882740.853475]: received mask_obs with header seq: 208
+stamp:
+  secs: 1733882740
+  nsecs: 854121923
+frame_id: '' and grasped_object_mask header seq: 32070
+stamp:
+  secs: 1733882740
+  nsecs: 619850636
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882741.054072]: received mask_obs with header seq: 209
+stamp:
+  secs: 1733882741
+  nsecs:  54691076
+frame_id: '' and grasped_object_mask header seq: 32076
+stamp:
+  secs: 1733882740
+  nsecs: 819688559
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882741.252034]: received mask_obs with header seq: 210
+stamp:
+  secs: 1733882741
+  nsecs: 252728223
+frame_id: '' and grasped_object_mask header seq: 32082
+stamp:
+  secs: 1733882741
+  nsecs:  19526482
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882741.453009]: received mask_obs with header seq: 211
+stamp:
+  secs: 1733882741
+  nsecs: 453506231
+frame_id: '' and grasped_object_mask header seq: 32088
+stamp:
+  secs: 1733882741
+  nsecs: 219364166
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882741.652107]: received mask_obs with header seq: 212
+stamp:
+  secs: 1733882741
+  nsecs: 652641057
+frame_id: '' and grasped_object_mask header seq: 32094
+stamp:
+  secs: 1733882741
+  nsecs: 419201851
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882741.849829]: received mask_obs with header seq: 213
+stamp:
+  secs: 1733882741
+  nsecs: 850602865
+frame_id: '' and grasped_object_mask header seq: 32100
+stamp:
+  secs: 1733882741
+  nsecs: 619036913
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882742.050523]: received mask_obs with header seq: 214
+stamp:
+  secs: 1733882742
+  nsecs:  51265954
+frame_id: '' and grasped_object_mask header seq: 32106
+stamp:
+  secs: 1733882741
+  nsecs: 818872213
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882742.251031]: received mask_obs with header seq: 215
+stamp:
+  secs: 1733882742
+  nsecs: 251769065
+frame_id: '' and grasped_object_mask header seq: 32112
+stamp:
+  secs: 1733882742
+  nsecs:  18706799
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882742.452404]: received mask_obs with header seq: 216
+stamp:
+  secs: 1733882742
+  nsecs: 453162908
+frame_id: '' and grasped_object_mask header seq: 32118
+stamp:
+  secs: 1733882742
+  nsecs: 218540668
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882742.659943]: received mask_obs with header seq: 217
+stamp:
+  secs: 1733882742
+  nsecs: 660651683
+frame_id: '' and grasped_object_mask header seq: 32124
+stamp:
+  secs: 1733882742
+  nsecs: 418374538
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882742.851243]: received mask_obs with header seq: 218
+stamp:
+  secs: 1733882742
+  nsecs: 851963758
+frame_id: '' and grasped_object_mask header seq: 32130
+stamp:
+  secs: 1733882742
+  nsecs: 618206978
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882743.053159]: received mask_obs with header seq: 219
+stamp:
+  secs: 1733882743
+  nsecs:  53831577
+frame_id: '' and grasped_object_mask header seq: 32136
+stamp:
+  secs: 1733882742
+  nsecs: 818039417
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882743.253214]: received mask_obs with header seq: 220
+stamp:
+  secs: 1733882743
+  nsecs: 253848552
+frame_id: '' and grasped_object_mask header seq: 32142
+stamp:
+  secs: 1733882743
+  nsecs:  17872334
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882743.471638]: received mask_obs with header seq: 221
+stamp:
+  secs: 1733882743
+  nsecs: 472417116
+frame_id: '' and grasped_object_mask header seq: 32148
+stamp:
+  secs: 1733882743
+  nsecs: 217703819
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882743.671971]: received mask_obs with header seq: 222
+stamp:
+  secs: 1733882743
+  nsecs: 672483921
+frame_id: '' and grasped_object_mask header seq: 32155
+stamp:
+  secs: 1733882743
+  nsecs: 450840950
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882743.857297]: received mask_obs with header seq: 223
+stamp:
+  secs: 1733882743
+  nsecs: 857908964
+frame_id: '' and grasped_object_mask header seq: 32160
+stamp:
+  secs: 1733882743
+  nsecs: 617372990
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882744.051181]: received mask_obs with header seq: 224
+stamp:
+  secs: 1733882744
+  nsecs:  51657915
+frame_id: '' and grasped_object_mask header seq: 32166
+stamp:
+  secs: 1733882743
+  nsecs: 817210913
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882744.250471]: received mask_obs with header seq: 225
+stamp:
+  secs: 1733882744
+  nsecs: 251115560
+frame_id: '' and grasped_object_mask header seq: 32172
+stamp:
+  secs: 1733882744
+  nsecs:  17048597
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882744.453214]: received mask_obs with header seq: 226
+stamp:
+  secs: 1733882744
+  nsecs: 453812599
+frame_id: '' and grasped_object_mask header seq: 32178
+stamp:
+  secs: 1733882744
+  nsecs: 216887474
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882744.669318]: received mask_obs with header seq: 227
+stamp:
+  secs: 1733882744
+  nsecs: 670104026
+frame_id: '' and grasped_object_mask header seq: 32184
+stamp:
+  secs: 1733882744
+  nsecs: 416725397
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882744.878128]: received mask_obs with header seq: 228
+stamp:
+  secs: 1733882744
+  nsecs: 878016233
+frame_id: '' and grasped_object_mask header seq: 32191
+stamp:
+  secs: 1733882744
+  nsecs: 649865627
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882745.086062]: received mask_obs with header seq: 229
+stamp:
+  secs: 1733882745
+  nsecs:  86757659
+frame_id: '' and grasped_object_mask header seq: 32197
+stamp:
+  secs: 1733882744
+  nsecs: 849701643
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882745.280597]: received mask_obs with header seq: 230
+stamp:
+  secs: 1733882745
+  nsecs: 281128883
+frame_id: '' and grasped_object_mask header seq: 32203
+stamp:
+  secs: 1733882745
+  nsecs:  49536467
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882745.479238]: received mask_obs with header seq: 231
+stamp:
+  secs: 1733882745
+  nsecs: 479716539
+frame_id: '' and grasped_object_mask header seq: 32209
+stamp:
+  secs: 1733882745
+  nsecs: 249371052
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882745.686511]: received mask_obs with header seq: 232
+stamp:
+  secs: 1733882745
+  nsecs: 687139987
+frame_id: '' and grasped_object_mask header seq: 32215
+stamp:
+  secs: 1733882745
+  nsecs: 449206352
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882745.869770]: received mask_obs with header seq: 233
+stamp:
+  secs: 1733882745
+  nsecs: 870471954
+frame_id: '' and grasped_object_mask header seq: 32221
+stamp:
+  secs: 1733882745
+  nsecs: 649044991
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882746.052903]: received mask_obs with header seq: 234
+stamp:
+  secs: 1733882746
+  nsecs:  53678035
+frame_id: '' and grasped_object_mask header seq: 32226
+stamp:
+  secs: 1733882745
+  nsecs: 815577984
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882746.251527]: received mask_obs with header seq: 235
+stamp:
+  secs: 1733882746
+  nsecs: 252217292
+frame_id: '' and grasped_object_mask header seq: 32232
+stamp:
+  secs: 1733882746
+  nsecs:  15416622
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882746.454575]: received mask_obs with header seq: 236
+stamp:
+  secs: 1733882746
+  nsecs: 455371618
+frame_id: '' and grasped_object_mask header seq: 32238
+stamp:
+  secs: 1733882746
+  nsecs: 215255260
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882746.650796]: received mask_obs with header seq: 237
+stamp:
+  secs: 1733882746
+  nsecs: 651590347
+frame_id: '' and grasped_object_mask header seq: 32244
+stamp:
+  secs: 1733882746
+  nsecs: 415093899
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882746.850833]: received mask_obs with header seq: 238
+stamp:
+  secs: 1733882746
+  nsecs: 851330041
+frame_id: '' and grasped_object_mask header seq: 32250
+stamp:
+  secs: 1733882746
+  nsecs: 614925146
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882747.051500]: received mask_obs with header seq: 239
+stamp:
+  secs: 1733882747
+  nsecs:  52041530
+frame_id: '' and grasped_object_mask header seq: 32256
+stamp:
+  secs: 1733882746
+  nsecs: 814756870
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882747.253331]: received mask_obs with header seq: 240
+stamp:
+  secs: 1733882747
+  nsecs: 254077434
+frame_id: '' and grasped_object_mask header seq: 32262
+stamp:
+  secs: 1733882747
+  nsecs:  14587402
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882747.473652]: received mask_obs with header seq: 241
+stamp:
+  secs: 1733882747
+  nsecs: 474446535
+frame_id: '' and grasped_object_mask header seq: 32268
+stamp:
+  secs: 1733882747
+  nsecs: 214417458
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882747.668667]: received mask_obs with header seq: 242
+stamp:
+  secs: 1733882747
+  nsecs: 669385433
+frame_id: '' and grasped_object_mask header seq: 32275
+stamp:
+  secs: 1733882747
+  nsecs: 447554350
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882747.867553]: received mask_obs with header seq: 243
+stamp:
+  secs: 1733882747
+  nsecs: 868296146
+frame_id: '' and grasped_object_mask header seq: 32281
+stamp:
+  secs: 1733882747
+  nsecs: 647394657
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882748.089673]: received mask_obs with header seq: 244
+stamp:
+  secs: 1733882748
+  nsecs:  90407848
+frame_id: '' and grasped_object_mask header seq: 32287
+stamp:
+  secs: 1733882747
+  nsecs: 847235203
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882748.284217]: received mask_obs with header seq: 245
+stamp:
+  secs: 1733882748
+  nsecs: 285010337
+frame_id: '' and grasped_object_mask header seq: 32293
+stamp:
+  secs: 1733882748
+  nsecs:  47075748
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882748.478210]: received mask_obs with header seq: 246
+stamp:
+  secs: 1733882748
+  nsecs: 478685617
+frame_id: '' and grasped_object_mask header seq: 32299
+stamp:
+  secs: 1733882748
+  nsecs: 246916294
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882748.678099]: received mask_obs with header seq: 247
+stamp:
+  secs: 1733882748
+  nsecs: 678304672
+frame_id: '' and grasped_object_mask header seq: 32305
+stamp:
+  secs: 1733882748
+  nsecs: 446756601
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882748.873234]: received mask_obs with header seq: 248
+stamp:
+  secs: 1733882748
+  nsecs: 873726606
+frame_id: '' and grasped_object_mask header seq: 32311
+stamp:
+  secs: 1733882748
+  nsecs: 646587372
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882748.918962]: Storing episode...
+[rosbag_record-3] killing on exit
+[print_text-2] killing on exit
+[pub_text-1] killing on exit
+[INFO] [1733882749.070712]: received mask_obs with header seq: 249
+stamp:
+  secs: 1733882749
+  nsecs:  70325136
+frame_id: '' and grasped_object_mask header seq: 32317
+stamp:
+  secs: 1733882748
+  nsecs: 846416712
+frame_id: "camera_color_optical_frame"
+[INFO] [1733882749.647767]: Stored episode 1.
+[INFO] [1733882749.648048]: Saving video...
+[INFO] [1733882749.862328]: Video saved!
+Starting episode 1
+[INFO] [1733882749.880894]: resetting environment
+[INFO] [1733882749.886885]: cleared current plan
+[INFO] [1733882749.887112]: moving to home
+[INFO] [1733882752.489864]: reached home
+[INFO] [1733882752.491040]: reset action history
+[INFO] [1733882755.198398]: environment reset
+Press Enter to continue... after reseting env. To rate prev episode, press 0 for failure and 1 for success
+program exiting gracefully
+proceeding to start episode!
+[INFO] [1733882833.361588]: Saving video...
+[INFO] [1733882833.362778]: Video saved!

210407/wandb/run-20241210_210414-ob7chcle/files/requirements.txt

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210407/wandb/run-20241210_210414-ob7chcle/files/wandb-metadata.json

@@ -0,0 +1,92 @@
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210407/wandb/run-20241210_210414-ob7chcle/files/wandb-summary.json

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210407/wandb/run-20241210_210414-ob7chcle/logs/debug-internal.log

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210407/wandb/run-20241210_210414-ob7chcle/logs/debug.log

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'wait_for_new_camera_frames': True, 'action_key': 'action_trajectory_25hz', 'action_trajectory_horizon': 36, 'action_trajectories': True, 'path_to_zarr_dataset': '/home/leonmkim/fish_leon/FISH/expert_demos/frankagym/FrankaInsertion-v1/64_240x320_hbm_twodim_fps_fix_contact_fix_recovery_fix_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act/demos.zarr', 'observation_cfg': {'_target_': 'agent.encoder.VisualFeatureSet', 'use_depth': True, 'use_color': True, 'mask_input_dict': {'_target_': 'agent.encoder.MaskInputDict', 'enable': True, 'representation': 'channels', 'mask_list': ['EE_obj_mask']}, 'crop_input_config': {'_target_': 'agent.encoder.CropInputConfig', 'color_crop_type': None, 'depth_crop_type': None, 'segmask_crop_type': None, 'crop_hw': [144, 144], 'crop_down_offset': 48, 'add_crop_binary_mask': False, 'add_coord_conv_map': False}, 'context_input_config': {'_target_': 'agent.encoder.ContextInputConfig', 'use_color': False, 'use_depth': False, 'mask_input_dict': {'_target_': 'agent.encoder.MaskInputDict', 'enable': False, 'representation': 'channels', 'mask_list': ['EE_obj_mask']}, 'crop_input_config': {'_target_': 'agent.encoder.CropInputConfig', 'color_crop_type': None, 'depth_crop_type': None, 'segmask_crop_type': None, 'crop_hw': [144, 144], 'crop_down_offset': 48, 'add_crop_binary_mask': False, 'add_coord_conv_map': False}}, 'mask_soft_approx_scheduler_config': {'_target_': 'agent.encoder.MaskSoftApproxSchedulerConfig', 'num_steps': 40000, 'initial_value': 10.0, 'final_value': 1000.0, 'interpolation_scheme': 'cosine'}, 'use_contact_map': False, 'use_sdf_maps': False, 'use_normals_maps': False, 'which_objects': 'both', 'grasped_dtc_max_value': 0.2, 'env_dtc_max_value': 0.4, 'grasped_normals_mask_max_dtc_value': 0.2, 'env_normals_mask_max_dtc_value': 0.4, 'clamp_dtc': True, 'max_contact_prob': 0.1, 'mask_normals_within_sdf': True, 'dtc_adaptive_normalization': False, 'adaptive_normals_mask': True, 'max_depth': 2.0, 'image_shape': [13, 180, 240], 'learnable_contact_preprocess_params': True, 'learning_rate': 0.0001, 'weight_decay': 0.0, 'contact_model_name': 'local_multitask_outhd64all_home_crop_h144w144d48_mask_ctxtmask_seed_220979_epoch_9', 'zero_centered': False}, 'agent_policy_cfg': {'_target_': 'agent.diffusion_policy.DiffusionPolicyAgentConfig', 'compile': False, 'device': 'cuda', 'cam_resize_shape': [13, 180, 240], 'orig_cam_shape': [3, 240, 320], 'policy_cfg': {'_target_': 'lerobot.common.policies.diffusion.configuration_diffusion.DiffusionConfig', 'n_obs_steps': 1, 'horizon': 36, 'n_action_steps': 36, 'output_shapes': {'action': [7]}, 'input_normalization_modes': {'observation.image': 'mean_std', 'observation.state': 'min_max', 'observation.action_history': 'min_max'}, 'output_normalization_modes': {'action': 'min_max'}, 'vision_backbone': 'resnet18', 'pretrained_backbone_weights': None, 'transforms': [{'_target_': 'torchaug.transforms.RandomAffine', 'degrees': [-5, 5], 'translate': [0.05, 0.05], 'batch_transform': True, 'num_chunks': -1, 'batch_inplace': True}, {'_target_': 'torchaug.transforms.RandomColorJitter', 'brightness': 0.3, 'contrast': 0.4, 'saturation': 0.5, 'hue': 0.08, 'batch_transform': True, 'num_chunks': -1, 'batch_inplace': True}], 'use_group_norm': True, 'spatial_softmax_num_keypoints': 32, 'action_history_encoder_config': {'_target_': 'lerobot.common.policies.diffusion.configuration_diffusion.Unet1dEncoderConfig', 'in_channels': 7, 'out_channels': 32, 'history_length': 6, 'kernel_size': 5, 'downsample_kernel_size': 3, 'downsample_stride': 2, 'downsample_padding': 1}, 'down_dims': [256, 512, 1024], 'kernel_size': 5, 'n_groups': 8, 'diffusion_step_embed_dim': 128, 'use_film_scale_modulation': True, 'noise_scheduler_type': 'DDIM', 'beta_schedule': 'squaredcos_cap_v2', 'beta_start': 0.0001, 'beta_end': 0.02, 'prediction_type': 'epsilon', 'clip_sample': True, 'clip_sample_range': 1.0, 'num_train_timesteps': 50, 'num_inference_steps': 10, 'do_mask_loss_for_padding': False, 'input_shapes': {'observation.image': [13, 180, 240], 'context_observation.image': [13, 180, 240], 'observation.state': [8], 'observation.action_history': [7]}}, 'train_cfg': {'_target_': 'utils.TrainConfig', 'lr': 0.0001, 'lr_scheduler': 'cosine', 'lr_warmup_steps': 500, 'adam_betas': [0.95, 0.999], 'adam_eps': 1e-08, 'adam_weight_decay': 1e-06, 'grad_clip_norm': 10, 'offline_steps': 1000000, 'use_amp': True}, 'observation_cfg': {'_target_': 'agent.encoder.VisualFeatureSet', 'use_depth': True, 'use_color': True, 'mask_input_dict': {'_target_': 'agent.encoder.MaskInputDict', 'enable': True, 'representation': 'channels', 'mask_list': ['EE_obj_mask']}, 'crop_input_config': {'_target_': 'agent.encoder.CropInputConfig', 'color_crop_type': None, 'depth_crop_type': None, 'segmask_crop_type': None, 'crop_hw': [144, 144], 'crop_down_offset': 48, 'add_crop_binary_mask': False, 'add_coord_conv_map': False}, 'context_input_config': {'_target_': 'agent.encoder.ContextInputConfig', 'use_color': False, 'use_depth': False, 'mask_input_dict': {'_target_': 'agent.encoder.MaskInputDict', 'enable': False, 'representation': 'channels', 'mask_list': ['EE_obj_mask']}, 'crop_input_config': {'_target_': 'agent.encoder.CropInputConfig', 'color_crop_type': None, 'depth_crop_type': None, 'segmask_crop_type': None, 'crop_hw': [144, 144], 'crop_down_offset': 48, 'add_crop_binary_mask': False, 'add_coord_conv_map': False}}, 'mask_soft_approx_scheduler_config': {'_target_': 'agent.encoder.MaskSoftApproxSchedulerConfig', 'num_steps': 40000, 'initial_value': 10.0, 'final_value': 1000.0, 'interpolation_scheme': 'cosine'}, 'use_contact_map': False, 'use_sdf_maps': False, 'use_normals_maps': False, 'which_objects': 'both', 'grasped_dtc_max_value': 0.2, 'env_dtc_max_value': 0.4, 'grasped_normals_mask_max_dtc_value': 0.2, 'env_normals_mask_max_dtc_value': 0.4, 'clamp_dtc': True, 'max_contact_prob': 0.1, 'mask_normals_within_sdf': True, 'dtc_adaptive_normalization': False, 'adaptive_normals_mask': True, 'max_depth': 2.0, 'image_shape': [13, 180, 240], 'learnable_contact_preprocess_params': True, 'learning_rate': 0.0001, 'weight_decay': 0.0, 'contact_model_name': 'local_multitask_outhd64all_home_crop_h144w144d48_mask_ctxtmask_seed_220979_epoch_9', 'zero_centered': False}, 'policy_frequency': 5, 'interpolation_frequency': 25}, 'true_action_history': False}}, 'num_train_frames_bc': 50000, 'num_train_frames_drq': 1100000, 'stddev_schedule_drq': 'linear(1.0,0.1,100000)', 'task_name': 'FrankaInsertion-v1', 'num_train_frames_vinn': 25000, 'num_train_frames_diffusion': 1000000, 'num_train_epochs_bc': 5000, 'num_train_epochs_diffusion': 15000, 'validate_every_epochs_bc': 5, 'validate_every_epochs_diffusion': 250, 'validate_diffusion_on_action_loss_every_epochs': 250, 'train_eval_diffusion_on_action_loss_every_epochs': 250, 'check_topk_every_epochs': 5, 'check_topk_every_epochs_diffusion': 250, 'save_snapshot_every_epochs_diffusion': 1500, 'x_limit': [0.2, 0.7], 'y_limit': [-0.4, 0.4], 'z_limit': [-0.05, 0.55], 'home_displacement': [0.55, 0.0, 0.55, 180.0, 0.0, 0.0], 'enable_gripper': True, 'start_with_gripper_open': True, 'offset_mask': [1, 1, 1, 1, 1, 1], 'path_to_depth_extrinsics': '~/fish_leon/FISH/cfgs/camera_poses/camera_poses_L515/20240904-122305/color_tf_world.npy', 'feature_type': '180x240_1_RGB_D_2.0_msk_channels_EE_obj_mask_acthst_hst6_out32_dwnkrnl3_dwnstrd2_dwnpd1', 'save_buffer': True, 'num_eval': 5, 'random_start': False, 'eval_starts': '/home/leonmkim/fish_leon/FISH/eval_starts/frankagym_pixels/FrankaInsertion-v1', 'num_valid_demos': None, 'load_checkpoint': True, 'true_action_history': False, 'checkpoint_epoch': 12000, 'load_residual_weight': False, 'checkpoint_root_dir': '/home/leonmkim/fish_leon/FISH', 'checkpoint_weight_dir': '/home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/265626', 'residual_weight': '/home/leonmkim/fish_leon/FISH/weights/frankagym_pixels/FrankaInsertion-v1/weight.pt'}
+2024-12-10 21:04:14,251 INFO    MainThread:599894 [wandb_init.py:init():619] starting backend
+2024-12-10 21:04:14,251 INFO    MainThread:599894 [wandb_init.py:init():623] setting up manager
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+
+2024-12-10 21:04:14,606 INFO    MainThread:599894 [wandb_init.py:init():804] starting run threads in backend
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+2024-12-10 21:04:14,961 INFO    MainThread:599894 [wandb_run.py:_redirect():2345] Redirects installed.
+2024-12-10 21:04:14,962 INFO    MainThread:599894 [wandb_init.py:init():847] run started, returning control to user process
+2024-12-10 21:04:14,962 INFO    MainThread:599894 [wandb_run.py:_tensorboard_callback():1544] tensorboard callback: /home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/265626/210407/tb, True
+2024-12-10 21:05:08,018 INFO    MainThread:599894 [wandb_run.py:_config_callback():1382] config_cb None None {'grasped_obj_name': 'hbm', 'left_book_slot': 'twodim'}
+2024-12-10 21:07:24,447 WARNING MsgRouterThr:599894 [router.py:message_loop():77] message_loop has been closed

210732/.hydra/config.yaml

@@ -0,0 +1,349 @@
+root_dir: /home/${oc.env:USER}/fish_leon
+nstep: 3
+seed: 41
+dataset_shuffle_seed: ${seed}
+device: cuda
+save_video: true
+save_buffer: true
+use_tb: true
+baseline: false
+use_wandb: true
+eval: true
+process_contact_features: ${eval}
+obs_type: pixels
+use_color: true
+use_depth: true
+use_masks: false
+mask_list:
+- EE_obj_mask
+mask_representation: channels
+crop_hw:
+- 144
+- 144
+crop_down_offset: 48
+color_crop_type: null
+depth_crop_type: null
+segmask_crop_type: null
+add_crop_binary_mask: false
+add_coord_conv_map: false
+use_context_color: false
+use_context_depth: false
+use_context_segmask: false
+context_color_crop_type: null
+context_depth_crop_type: null
+context_segmask_crop_type: null
+context_add_crop_binary_mask: false
+context_add_coord_conv_map: false
+use_contact_map: false
+use_sdf_maps: false
+use_normals_maps: false
+which_objects: both
+max_contact_prob: 0.1
+max_depth: 2.0
+grasped_dtc_max_value: 0.105
+env_dtc_max_value: 0.425
+grasped_normals_mask_max_dtc_value: 0.105
+env_normals_mask_max_dtc_value: 0.425
+clamp_dtc: true
+dtc_adaptive_normalization: false
+mask_normals_within_sdf: true
+adaptive_normals_mask: true
+learnable_contact_preprocess_params: false
+contact_model_name: local_multitask_outhd64all_home_crop_h144w144d48_ctxt_seed_183386_epoch_9
+contact_estimation_model_ckpt_path: ~/fish_leon/contact_estimation/artifacts/175604_2/checkpoints/epoch=09-val_loss=0.00.ckpt
+num_eval: 5
+debug_timestamps: false
+open_loop: false
+action_trajectories: true
+stop_after_action: false
+interpolation_frequency: 25
+policy_frequency: 5
+wait_for_new_camera_frames: true
+random_start: false
+eval_starts: ${root_dir}/FISH/eval_starts/${suite.name}_${obs_type}/${task_name}
+train_demo_idxs_list_or_num: null
+num_valid_demos: null
+val_num_groups: 3
+name_of_expert_demo: 192_240x320_multiobj_twodim_recovery_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act
+expert_dataset_dirpath: ${root_dir}/FISH/expert_demos/${suite.name}/${task_name}/${name_of_expert_demo}
+expert_dataset: ${expert_dataset_dirpath}/demos.zarr
+action_key: ${oc.if_else:${action_trajectories}, 'action_trajectory_${interpolation_frequency}hz',
+  'action'}
+semantic_demo_grouping_name: semantic_demo_grouping.yaml
+semantic_demo_grouping: ${expert_dataset_dirpath}/${semantic_demo_grouping_name}
+expert_dataset_config: ${expert_dataset_dirpath}/demo_config.yaml
+bc_regularize: false
+bc_weight_type: qfilter
+load_checkpoint: ${agent.load_checkpoint}
+wandb_run_id: '265626'
+true_action_history: false
+wandb_notes: null
+checkpoint_epoch: 12000
+load_residual_weight: false
+checkpoint_root_dir: /home/${oc.env:USER}/fish_leon/FISH
+checkpoint_weight_dir: ${checkpoint_root_dir}/exp_local/${suite.name}_${obs_type}/${task_name}/${wandb_run_id}
+residual_weight: ${root_dir}/FISH/weights/${suite.name}_${obs_type}/${task_name}/weight.pt
+experiment_dir: ./exp_local/${suite.name}_${obs_type}/${task_name}/${wandb_run_id}
+agent:
+  _target_: agent.diffusion_policy.DiffusionPolicyAgent
+  name: diffusion_policy
+  load_checkpoint: ${eval}
+  device: ${device}
+  n_obs_steps: ${.config.policy_cfg.n_obs_steps}
+  suite_name: ${suite.name}
+  obs_type: ${obs_type}
+  enable_arm: ${eval}
+  enable_camera: ${eval}
+  use_tb: ${use_tb}
+  desired_image_shape:
+  - 13
+  - 180
+  - 240
+  orig_cam_shape:
+  - 3
+  - 240
+  - 320
+  config:
+    _target_: agent.diffusion_policy.DiffusionPolicyAgentConfig
+    compile: false
+    device: ${device}
+    cam_resize_shape: ${agent.desired_image_shape}
+    orig_cam_shape: ${agent.orig_cam_shape}
+    policy_frequency: ${policy_frequency}
+    interpolation_frequency: ${interpolation_frequency}
+    policy_cfg:
+      _target_: lerobot.common.policies.diffusion.configuration_diffusion.DiffusionConfig
+      n_obs_steps: 1
+      horizon: 36
+      n_action_steps: ${agent.config.policy_cfg.horizon}
+      input_shapes:
+        observation.image: ${agent.config.cam_resize_shape}
+        context_observation.image: ${agent.config.cam_resize_shape}
+        observation.state:
+        - 8
+        observation.action_history:
+        - 7
+      output_shapes:
+        action:
+        - 7
+      input_normalization_modes:
+        observation.image: mean_std
+        observation.state: min_max
+        observation.action_history: min_max
+      output_normalization_modes:
+        action: min_max
+      vision_backbone: resnet18
+      pretrained_backbone_weights: null
+      transforms:
+      - _target_: torchaug.transforms.RandomAffine
+        degrees:
+        - -5
+        - 5
+        translate:
+        - 0.05
+        - 0.05
+        batch_transform: true
+        num_chunks: -1
+        batch_inplace: true
+      - _target_: torchaug.transforms.RandomColorJitter
+        brightness: 0.3
+        contrast: 0.4
+        saturation: 0.5
+        hue: 0.08
+        batch_transform: true
+        num_chunks: -1
+        batch_inplace: true
+      use_group_norm: true
+      spatial_softmax_num_keypoints: 32
+      action_history_encoder_config:
+        _target_: lerobot.common.policies.diffusion.configuration_diffusion.Unet1dEncoderConfig
+        in_channels: 7
+        out_channels: 32
+        history_length: ${agent.config.policy_cfg.n_action_steps}
+        kernel_size: ${agent.config.policy_cfg.kernel_size}
+        downsample_kernel_size: 3
+        downsample_stride: 2
+        downsample_padding: 1
+      down_dims:
+      - 256
+      - 512
+      - 1024
+      kernel_size: 5
+      n_groups: 8
+      diffusion_step_embed_dim: 128
+      use_film_scale_modulation: true
+      noise_scheduler_type: DDIM
+      beta_schedule: squaredcos_cap_v2
+      beta_start: 0.0001
+      beta_end: 0.02
+      prediction_type: epsilon
+      clip_sample: true
+      clip_sample_range: 1.0
+      num_train_timesteps: 50
+      num_inference_steps: 10
+      do_mask_loss_for_padding: false
+    train_cfg:
+      _target_: utils.TrainConfig
+      lr: 0.0001
+      lr_scheduler: cosine
+      lr_warmup_steps: 500
+      adam_betas:
+      - 0.95
+      - 0.999
+      adam_eps: 1.0e-08
+      adam_weight_decay: 1.0e-06
+      grad_clip_norm: 10
+      offline_steps: ${num_train_frames_diffusion}
+      use_amp: true
+    observation_cfg:
+      _target_: agent.encoder.VisualFeatureSet
+      use_depth: ${use_depth}
+      use_color: ${use_color}
+      mask_input_dict:
+        _target_: agent.encoder.MaskInputDict
+        enable: ${use_masks}
+        representation: ${mask_representation}
+        mask_list: ${mask_list}
+      crop_input_config:
+        _target_: agent.encoder.CropInputConfig
+        color_crop_type: ${color_crop_type}
+        depth_crop_type: ${depth_crop_type}
+        segmask_crop_type: ${segmask_crop_type}
+        crop_hw: ${crop_hw}
+        crop_down_offset: ${crop_down_offset}
+        add_crop_binary_mask: ${add_crop_binary_mask}
+        add_coord_conv_map: ${add_coord_conv_map}
+      context_input_config:
+        _target_: agent.encoder.ContextInputConfig
+        use_color: ${use_context_color}
+        use_depth: ${use_context_depth}
+        mask_input_dict:
+          _target_: agent.encoder.MaskInputDict
+          enable: ${use_context_segmask}
+          representation: ${mask_representation}
+          mask_list: ${mask_list}
+        crop_input_config:
+          _target_: agent.encoder.CropInputConfig
+          color_crop_type: ${context_color_crop_type}
+          depth_crop_type: ${context_depth_crop_type}
+          segmask_crop_type: ${context_segmask_crop_type}
+          crop_hw: ${crop_hw}
+          crop_down_offset: ${crop_down_offset}
+          add_crop_binary_mask: ${context_add_crop_binary_mask}
+          add_coord_conv_map: ${context_add_coord_conv_map}
+      mask_soft_approx_scheduler_config:
+        _target_: agent.encoder.MaskSoftApproxSchedulerConfig
+        num_steps: 40000
+        initial_value: 10.0
+        final_value: 1000.0
+        interpolation_scheme: constant
+      use_contact_map: ${use_contact_map}
+      use_sdf_maps: ${use_sdf_maps}
+      use_normals_maps: ${use_normals_maps}
+      which_objects: ${which_objects}
+      grasped_dtc_max_value: ${grasped_dtc_max_value}
+      env_dtc_max_value: ${env_dtc_max_value}
+      grasped_normals_mask_max_dtc_value: ${grasped_normals_mask_max_dtc_value}
+      env_normals_mask_max_dtc_value: ${env_normals_mask_max_dtc_value}
+      clamp_dtc: ${clamp_dtc}
+      max_contact_prob: ${max_contact_prob}
+      mask_normals_within_sdf: ${mask_normals_within_sdf}
+      dtc_adaptive_normalization: ${dtc_adaptive_normalization}
+      adaptive_normals_mask: ${adaptive_normals_mask}
+      max_depth: ${max_depth}
+      image_shape: ${agent.desired_image_shape}
+      learnable_contact_preprocess_params: ${learnable_contact_preprocess_params}
+      learning_rate: ${agent.config.train_cfg.lr}
+      weight_decay: 0.0
+      contact_model_name: ${contact_model_name}
+      zero_centered: false
+suite:
+  suite: frankagym
+  name: frankagym
+  frame_stack: ${agent.n_obs_steps}
+  action_repeat: 1
+  discount: 0.99
+  hidden_dim: 1024
+  num_train_frames: 2010
+  num_seed_frames: 260
+  num_train_epochs: 5000
+  validate_every_epochs: 100
+  validate_diffusion_on_action_loss_every_epochs: 500
+  train_eval_diffusion_on_action_loss_every_epochs: 500
+  check_topk_every_epochs: 10
+  save_snapshot_every_epochs: 5000
+  eval_every_frames: 2000
+  num_eval_episodes: 5
+  save_snapshot: true
+  wait_for_user_to_start_episode: true
+  task_make_fn:
+    _target_: suite.frankagym.make
+    name: ${task_name}
+    height: 240
+    width: 320
+    frame_stack: ${suite.frame_stack}
+    action_repeat: ${suite.action_repeat}
+    seed: ${seed}
+    enable_arm: ${agent.enable_arm}
+    enable_gripper: ${enable_gripper}
+    start_with_gripper_open: ${start_with_gripper_open}
+    enable_camera: ${agent.enable_camera}
+    path_to_depth_extrinsics: ${path_to_depth_extrinsics}
+    contact_estimation_model_ckpt_path: ${contact_estimation_model_ckpt_path}
+    x_limit: ${x_limit}
+    y_limit: ${y_limit}
+    z_limit: ${z_limit}
+    device: ${device}
+    interpolation_frequency: ${interpolation_frequency}
+    policy_frequency: ${policy_frequency}
+    debug_timestamps: ${debug_timestamps}
+    stop_after_action: ${stop_after_action}
+    open_loop: ${open_loop}
+    wait_for_new_camera_frames: ${wait_for_new_camera_frames}
+    action_key: ${action_key}
+    action_trajectory_horizon: ${agent.config.policy_cfg.horizon}
+    action_trajectories: ${action_trajectories}
+    path_to_zarr_dataset: ${expert_dataset}
+    agent_policy_cfg: ???
+    true_action_history: ${true_action_history}
+num_train_frames_bc: 50000
+num_train_frames_drq: 1100000
+stddev_schedule_drq: linear(1.0,0.1,100000)
+task_name: FrankaInsertion-v1
+num_train_frames_vinn: 25000
+num_train_frames_diffusion: 1000000
+num_train_epochs_bc: 5000
+num_train_epochs_diffusion: 5000
+validate_every_epochs_bc: 5
+validate_every_epochs_diffusion: 25
+validate_diffusion_on_action_loss_every_epochs: 50
+train_eval_diffusion_on_action_loss_every_epochs: 500
+check_topk_every_epochs: 5
+check_topk_every_epochs_diffusion: ${validate_diffusion_on_action_loss_every_epochs}
+save_snapshot_every_epochs_diffusion: 5000
+x_limit:
+- 0.2
+- 0.7
+y_limit:
+- -0.4
+- 0.4
+z_limit:
+- -0.05
+- 0.55
+home_displacement:
+- 0.55
+- 0.0
+- 0.55
+- 180.0
+- 0.0
+- 0.0
+enable_gripper: true
+start_with_gripper_open: true
+offset_mask:
+- 1
+- 1
+- 1
+- 1
+- 1
+- 1
+path_to_depth_extrinsics: ~/fish_leon/FISH/cfgs/camera_poses/camera_poses_L515/20240904-122305/color_tf_world.npy

210732/.hydra/hydra.yaml

@@ -0,0 +1,169 @@
+hydra:
+  run:
+    dir: ${experiment_dir}/${now:%H%M%S}
+  sweep:
+    dir: ${experiment_dir}/${now:%H%M%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    submitit_folder: ${experiment_dir}/${now:%H%M%S}/.slurm
+    timeout_min: 60
+    cpus_per_task: null
+    gpus_per_node: null
+    tasks_per_node: 1
+    mem_gb: null
+    nodes: 1
+    name: ${hydra.job.name}
+    stderr_to_stdout: false
+    _target_: hydra_plugins.hydra_submitit_launcher.submitit_launcher.LocalLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: 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:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - agent=diffusion
+    - suite=frankagym
+    - suite/frankagym_task@_global_=insertion
+  job:
+    name: eval_robot
+    chdir: true
+    override_dirname: agent=diffusion,suite/frankagym_task@_global_=insertion,suite=frankagym
+    id: ???
+    num: ???
+    config_name: config_eval
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.1'
+    cwd: /home/leonmkim/fish_leon/FISH
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /home/leonmkim/fish_leon/FISH/cfgs
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /home/leonmkim/fish_leon/FISH/exp_local/frankagym_pixels/FrankaInsertion-v1/265626/210732
+    choices:
+      suite: frankagym
+      suite/frankagym_task@_global_: insertion
+      agent: diffusion
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: submitit_local
+      hydra/output: default
+  verbose: false

210732/.hydra/overrides.yaml

@@ -0,0 +1,3 @@
+- agent=diffusion
+- suite=frankagym
+- suite/frankagym_task@_global_=insertion

210732/episode_rosbags/aligned_depth_to_color_K.npy

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210732/episode_rosbags/cam_tf_world.npy

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210732/episode_rosbags/color_K.npy

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210732/episode_rosbags/episode_2_2024-12-10-21-09-45.rrd

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+size 435761423

210732/episode_rosbags/episode_4_2024-12-10-21-11-07.rrd

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210732/eval_robot.log

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+[2024-12-10 21:07:32,466][py.warnings][WARNING] - /home/leonmkim/fish_leon/FISH/eval_robot.py:503: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  @hydra.main(config_path='cfgs', config_name='config_eval')
+
+[2024-12-10 21:07:32,469][py.warnings][WARNING] - /home/leonmkim/fish_leon/FISH/eval_robot.py:439: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(
+

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