add camera to g1 locomanipulation env and update docs with G1.5 training note #3549
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jaybdub
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Please add how you tested these changes. |
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@ooctipus to review. |
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@yanchangNvidia -- These changes were tested by
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| you may convert the generated dataset to LeRobot format as expected by GR00T N1.5, and then run the finetuning script provided | ||
| in the GR00T N1.5 repository. An example closed-loop policy rollout is shown in the video below: | ||
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| .. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/locomanipulation_sdg_disjoint_nav_groot_policy_4x.gif |
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Could we change this gif name to "locomanipulation_sdg_groot_policy_4x.gif"?
| .. code:: bash | ||
| ./isaaclab.sh -p scripts/imitation_learning/disjoint_navigation/plot_navigation_trajectory.py --input_file datasets/generated_dataset_g1_navigation.hdf5 --output_dir /PATH/TO/DESIRED_OUTPUT_DIR | ||
| ./isaaclab.sh -p scripts/imitation_learning/locomanipulation_sdg/plot_navigation_trajectory.py --input_file datasets/generated_dataset_g1_navigation.hdf5 --output_dir /PATH/TO/DESIRED_OUTPUT_DIR |
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"generated_dataset_g1_navigation.hdf5" or "generated_dataset_g1_locomanipulation.hdf5"?
| ## Usage | ||
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| To run the locomanipulation SDG replay script execute the following command. | ||
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Do we need another step of running manipulation trajectory augmentation before the navigation trajectory augmentation?
| --dataset="datasets/dataset_generated_g1_locomanipulation_teacher_release.hdf5" \ | ||
| --num_runs=1 \ | ||
| --lift_step=70 \ | ||
| --navigate_step=120 \ |
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Could we add some comments / documentations on what do "lift_step" "navigation_step" refer to? And how these default values were set?
| width=256, | ||
| data_types=["rgb"], | ||
| spawn=sim_utils.PinholeCameraCfg(focal_length=8.0, clipping_range=(0.1, 20.0)), | ||
| offset=CameraCfg.OffsetCfg(pos=(0.0, 0.0, 0.0), rot=(0.9848078, 0.0, -0.1736482, 0.0), convention="world"), |
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How was the "rot" setting chosen?
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This PR adds the following changes
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pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there