88e6e9bee6
- uf_starvla_eval.py: eval loop that queries a starVLA WebSocket policy server (e.g. pi05) instead of a local LeRobot policy; reuses robot connect/reset, keyboard control, precise_sleep pacing and the optional ActionSafetyGuard from uf_lerobot_eval.py - utils/starvla_ws_client: vendored WebsocketClientPolicy + msgpack_numpy from starVLA deployment/model_server/tools - config/eval/xarm7_starvla_eval_config.yaml: single-camera eval config - pyproject.toml: uf-starvla-eval entry point + websockets/msgpack deps
58 lines
2.2 KiB
YAML
58 lines
2.2 KiB
YAML
# Real-robot eval config for uf-starvla-eval (external starVLA policy server).
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# Robot section is derived from config/gello/xarm7_gello_record_config.yaml
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# (teleop / dataset / web_preview sections removed).
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robot:
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type: uf::robot
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id: "uf_robot"
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robot_dof: 7
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control_space: "joint"
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# TODO: confirm this is your xArm controller IP.
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robot_ip: "192.168.1.245"
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# 2: xArm Gripper G2 (0-84 mm opening range).
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gripper_type: 2
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enable_logs: false
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# Up to 60 Hz goal updates; unchanged targets are filtered below.
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gripper_command_interval_s: 0.0166667
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# xArm Gripper G2 speed, 15-225 mm/s; 100 is the SDK default.
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gripper_speed: 100
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# xArm Gripper G2 gripping force, 1-100 percent; 50 is the SDK default.
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gripper_force: 50
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# Use the high-frequency servo interface for lower-latency action streaming.
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joint_command_mode: 1
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max_joint_velocity: 120
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# TCP z floor in the xArm base coordinate system (mm).
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min_tcp_z_mm: -2.0
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# CPU-local FK/Jacobian projection keeps ServoJ free of synchronous SDK queries.
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tcp_z_guard_backend: "local_projection"
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tcp_z_soft_margin_mm: 0.5
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local_kinematics_max_error_mm: 2.0
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controller_safety_boundary: true
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# Append gripper initialization/read/write failures here.
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gripper_error_log_path: "logs/xarm7_gripper_errors.log"
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cameras:
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# Single camera view; must match `camera_key` below and the training setup.
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# TODO: fill in the serial number of YOUR RealSense camera.
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camera:
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type: intelrealsense
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serial_number_or_name: "242622070583"
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width: 640
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height: 480
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fps: 30
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# starVLA policy server address (server binds 0.0.0.0; set the server IP here
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# if the server runs on a different machine).
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server_host: "127.0.0.1"
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server_port: 10093
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# Control frequency for streaming actions to the robot.
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fps: 30
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# Execute the first N steps of each predicted action chunk (T=50), then re-infer.
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# N=1 means fully closed-loop (re-infer every step).
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steps_per_inference: 25
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single_task: "Pick up the black bottle and place it on the blue bag"
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n_episodes: 50
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# Key of the camera in the robot observation dict (camera name above).
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camera_key: "camera"
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# Enable the action safety guard (thresholds in ActionSafetyConfig).
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enable_safety: false
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