⚡ add contact guidance result

.gitignore

@@ -2,3 +2,4 @@ sharpa/
 xhand_pro/
 processed/gigahand/assets/robots/xhand/MJMODEL.TXT
 */assets/robots/xhand/MJMODEL.TXT
+.claude/

processed/gigahand/ability/bimanual/complete_data.csv

@@ -1,16 +1,16 @@
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processed/gigahand/ability/bimanual/p36-tea/0/config_act.yaml

@@ -0,0 +1,186 @@
+robot_type: ability
+embodiment_type: bimanual
+task: p36-tea
+seed: 0
+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 0
+model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p36-tea/0/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p36-tea/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.2
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 1.6
+knot_dt: 0.4
+max_sim_steps: 1352
+nconmax_per_env: 100
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
+xy_offset_range:
+- -0.005
+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
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+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.5
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+improvement_check_steps: 1
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.15
+pos_noise_scale: 0.02
+rot_noise_scale: 0.01
+base_pos_rew_scale: 0.03
+base_rot_rew_scale: 0.03
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: false
+viewer: ''
+rerun_spawn: false
+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
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+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
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+- 0
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+nv: 44
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+beta_traj: 0.9630748444263257
+output_dir: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p36-tea/0

processed/gigahand/ability/bimanual/p36-tea/0/trajectory_ikrollout_act.npz

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processed/gigahand/ability/bimanual/p36-tea/1/config_act.yaml

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+robot_type: ability
+embodiment_type: bimanual
+task: p36-tea
+seed: 1
+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 1
+model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p36-tea/0/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p36-tea/0/trajectory_kinematic_act.npz
+load_config_path: ''
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+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.2
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+render_dt: 0.02
+horizon: 1.6
+knot_dt: 0.4
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+nconmax_per_env: 100
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
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+- 0.005
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+- 0.005
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+contact_guidance: true
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+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
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+- right_object_rot_x
+- right_object_rot_y
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+- left_object_rot_x
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+  - ring
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processed/gigahand/ability/bimanual/p36-tea/2/config_act.yaml

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+robot_type: ability
+embodiment_type: bimanual
+task: p36-tea
+seed: 2
+dataset_dir: example_datasets
+dataset_name: gigahand
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+model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p36-tea/0/../scene_act.xml
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+}

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