diff --git a/N025/go2_arm/dr_off/seed_1067/check.json b/N025/go2_arm/dr_off/seed_1067/check.json new file mode 100644 index 0000000000000000000000000000000000000000..95beeca6c02fde9b6d6c1d52e7a6dd10b3b7a7cd --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1067/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1679 rows vs ceil(3358/2) = 1679" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..3387, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "16.83 MB, 1679 frames at 25 fps, mean luma 111..143, std 24, new picture 1678x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1679 vs 1679" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "26.05 MB, 1679 frames at 25 fps, mean luma 115..169, std 30, new picture 1678x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1679 vs 1679" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N025/go2_arm/dr_off/seed_1067/check.txt b/N025/go2_arm/dr_off/seed_1067/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..aea1a8d0a5393c41654732f77742850cd37328c3 --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1067/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_go2_off_1067/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_go2_off_1067/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1679 videos 2 robot_type Go2PlusCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 1679 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.' +rows 1679 at dataset fps 25 = 67.16 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1679 rows vs ceil(3358/2) = 1679 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..3387, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 16.83 MB, 1679 frames at 25 fps, mean luma 111..143, std 24, new picture 1678x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1679 vs 1679 +[PASS] video observation.images.wrist decodes, 640x480, not black: 26.05 MB, 1679 frames at 25 fps, mean luma 115..169, std 30, new picture 1678x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1679 vs 1679 +parquet size 18.45 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 61.57 MB; whole cell dir 63.1 MB +RESULT: ALL PASS diff --git a/N025/go2_arm/dr_off/seed_1067/report.json b/N025/go2_arm/dr_off/seed_1067/report.json new file mode 100644 index 0000000000000000000000000000000000000000..bd4a0c265bca7d0d06c310ddc41529825b469baf --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1067/report.json @@ -0,0 +1,2094 @@ +{ + "task": "N025", + "agent_id": null, + "embodiment": "go2_arm", + "level": "easy", + "scene_seed": 1067, + "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)", + "config": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/src/magicsim/Collect/Task/MobileAssembly/Conf/n025_wedge_shim.yaml", + "full_success": true, + "failure_reason": null, + "dr": { + "seed": 1067, + "wedge": { + "dx": -0.07957, + "dy": -0.00041, + "yaw_deg": -3.75981 + }, + "shim_board": { + "dx": 0.04891, + "dy": 0.005, + "yaw_deg": -0.08979 + }, + "wedge_mass": 0.03692, + "light": 1144.14802, + "spawn": { + "dx": -0.14774, + "dy": 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wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0993": { + "frame_idx": 993, + "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_1004": { + "frame_idx": 1004, + "caption": "Working on the small wedge; the right gripper is below the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1314": { + "frame_idx": 1314, 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file mode 100644 index 0000000000000000000000000000000000000000..d5a0cfe13158611e0416693019199802b8c42a5a --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1067/stationassembly/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ed9d72a5eda3ca2d614c6e91dabd959d52cdfd855bdb04d1c8a31d34ac9cdcc +size 764681 diff --git a/N025/go2_arm/dr_off/seed_1067/stationassembly/000/sim_info/magicsim_manifest.json b/N025/go2_arm/dr_off/seed_1067/stationassembly/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..3aebb92c4948e202ffc81192ee7ace5ced68512c --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1067/stationassembly/000/sim_info/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 10:53:58" + }, + "embodiment": { + "robots": [ + { + "name": "Go2Plus", + "cfg": "Go2PlusCfg", + "type": "mobilemanip", + "joint_names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 12, + "nan_policy": "from_raw", + "segments": [ + { + "name": "Go2Plus.base_action", + "start": 0, + "end": 4, + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3" + ], + "source": "Go2UnifiedLocomotionAction", + "names_source": "fallback" + }, + { + "name": "Go2Plus.arm_action", + "start": 4, + "end": 11, + "names": [ + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z" + ], + "source": "Go2PlusCuroboIKAction", + "names_source": "pose_layout" + }, + { + "name": "Go2Plus.eef_action", + "start": 11, + "end": 12, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 26, + "segments": [ + { + "name": "Go2Plus.joint_pos", + "start": 0, + "end": 24, + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23" + ], + "source": "ObservationManager", + "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)" + }, + { + "name": "Go2Plus.gripper_pos", + 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Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726 + ], + "quat": [ + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587 + ], + "quat": [ + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + } + }, + "generated_run": { + "run_id": "stationassembly/000", + "task_type": "StationAssembly" + } +} \ No newline at end of file diff --git a/N025/go2_arm/dr_on/seed_2061/check.json b/N025/go2_arm/dr_on/seed_2061/check.json new file mode 100644 index 0000000000000000000000000000000000000000..4963752ad5b03f0e65ab67371911dbd9c752f232 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2061/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1742 rows vs ceil(3484/2) = 1742" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..3513, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "12.78 MB, 1742 frames at 25 fps, mean luma 77..130, std 40, new picture 1741x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1742 vs 1742" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "25.51 MB, 1742 frames at 25 fps, mean luma 30..160, std 38, new picture 1741x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1742 vs 1742" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N025/go2_arm/dr_on/seed_2061/check.txt b/N025/go2_arm/dr_on/seed_2061/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..35e2c0f38f58b19c7fc410a1df437f8cecf71ce3 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2061/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_go2_on_2061/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_go2_on_2061/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1742 videos 2 robot_type Go2PlusCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 1742 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.' +rows 1742 at dataset fps 25 = 69.68 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1742 rows vs ceil(3484/2) = 1742 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..3513, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 12.78 MB, 1742 frames at 25 fps, mean luma 77..130, std 40, new picture 1741x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1742 vs 1742 +[PASS] video observation.images.wrist decodes, 640x480, not black: 25.51 MB, 1742 frames at 25 fps, mean luma 30..160, std 38, new picture 1741x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1742 vs 1742 +parquet size 19.88 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 58.43 MB; whole cell dir 60.0 MB +RESULT: ALL PASS diff --git a/N025/go2_arm/dr_on/seed_2061/report.json b/N025/go2_arm/dr_on/seed_2061/report.json new file mode 100644 index 0000000000000000000000000000000000000000..3eaa4e6b7789600108e946894b1f880b1111f501 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2061/report.json @@ -0,0 +1,2159 @@ +{ + "task": "N025", + "agent_id": null, + "embodiment": "go2_arm", + "level": "easy", + "scene_seed": 2061, + "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)", + "config": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/src/magicsim/Collect/Task/MobileAssembly/Conf/n025_wedge_shim.yaml", + "full_success": true, + "failure_reason": null, + "dr": { + "seed": 2061, + "wedge": { + "dx": -0.01473, + "dy": 0.0051, + "yaw_deg": 3.72904 + }, + "shim_board": { + "dx": -0.01855, + "dy": -0.00724, + "yaw_deg": 0.76003 + }, + "wedge_mass": 0.04154, + "light": 1158.81886, + "spawn": { + "dx": -0.12775, + "dy": -0.09843, + "yaw_deg": 1.84566 + }, + "overrides": { + "env.scene.objects.wedge.common.pos": [ + -2.01473, + 1.4051, + 0.431 + ], + "env.scene.objects.wedge.common.ori": [ + 0.0, + 0.0, + 93.72904 + ], + "env.scene.objects.shim_board.common.pos": [ + 1.18145, + 3.14276, + 0.43 + ], + "env.scene.objects.shim_board.common.ori": [ + 0.0, + 0.0, + -89.23997 + ], + "env.scene.objects.wedge.wedge_1.physics.mass": 0.04154, + "env.scene.background.intensity": [ + 1158.81886, + 1158.81886 + ], + "env.robot.RidgebackSawyerUmi.common.pos": [ + [ + -3.72775, + -2.59843, + 0.06 + ], + [ + -3.72775, + -2.59843, + 0.06 + ] + ], + "env.robot.RidgebackSawyerUmi.common.ori": [ + [ + 0, + 0, + 61.84566 + ], + [ + 0, + 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{ + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "mdl": "OmniGlass.mdl", + "bound_prims": 1 + } + ] + } + ] +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_off/seed_1048/check.json b/N025/sawyer_umi/dr_off/seed_1048/check.json new file mode 100644 index 0000000000000000000000000000000000000000..c074ee4e124e0483707b4c4ac3cc4bd9f1bb9de6 --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1048/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1355 rows vs ceil(2709/2) = 1355" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..2739, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "14.66 MB, 1355 frames at 25 fps, mean luma 101..142, std 36, new picture 1354x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1355 vs 1355" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "24.21 MB, 1355 frames at 25 fps, mean luma 97..175, std 38, new picture 1354x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1355 vs 1355" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_off/seed_1048/check.txt b/N025/sawyer_umi/dr_off/seed_1048/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..6c8994191af7d95635791b1ba4350f99eda48ae1 --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1048/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_saw_off_1048/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_saw_off_1048/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1355 videos 2 robot_type RidgebackSawyerUmiCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 1355 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.' +rows 1355 at dataset fps 25 = 54.20 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1355 rows vs ceil(2709/2) = 1355 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..2739, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 14.66 MB, 1355 frames at 25 fps, mean luma 101..142, std 36, new picture 1354x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1355 vs 1355 +[PASS] video observation.images.wrist decodes, 640x480, not black: 24.21 MB, 1355 frames at 25 fps, mean luma 97..175, std 38, new picture 1354x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1355 vs 1355 +parquet size 2.00 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 41.04 MB; whole cell dir 41.9 MB +RESULT: ALL PASS diff --git a/N025/sawyer_umi/dr_off/seed_1048/report.json b/N025/sawyer_umi/dr_off/seed_1048/report.json new file mode 100644 index 0000000000000000000000000000000000000000..568d929c139b7f61b6fed4fffdf0660a6ac4fe5e --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1048/report.json @@ -0,0 +1,1765 @@ +{ + "task": "N025", + "agent_id": null, + "embodiment": "sawyer_umi", + "level": "easy", + "scene_seed": 1048, + "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)", + 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mode 100644 index 0000000000000000000000000000000000000000..ac78d85b473ab730c69f1fa6fae053c05dc08117 --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1048/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,531 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "StationAssembly", + "subsample_every": 2, + "control_steps": 2709, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 4.417448523100341, + -0.25444854485181073, + 0.17000010523835685 + ], + "bbox": { + "extent": [ + 1.0, + 1.0000000000000002, + 1.0 + ], + "center": [ + 0.0, + -1.1102230246251565e-16, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + "inst_id": 1, + "noun": "table B", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 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There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is to the left of the wedge. The gray table B is to the right of the shim board. The shim board is on top of the gray table B. The shim board is to the left of the gray table B. The wedge is on top of the gray table A. The wedge is to the right of the gray table A. The scene is viewed from front-right, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [shim board]\n\n\n [[wedge]]\n\n\n\n\n[robot]" + }, + "task": { + "task_type": "StationAssembly", + "instruction": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.", + "template_id": -1, + "slots": { + "obj": 1.5707963267948966, + "support": null + }, + "generic_instruction": "Stationassembly the 1.5707963267948966.", + "task_id": "N025", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0659": { + "frame_idx": 659, + "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the right of and in front of the wedge.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + 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+ "grasp_mode": 4, + "retrieval_mode": 4, + "goalset_lock_base": true, + "reactive": false, + "viz_grasp": false, + "close_settle_steps": 10, + "obstacle_ignore": [ + "table_A" + ] + }, + "CarryPose": { + "robot_id": 0, + "hand_id": 0, + "carry_part_pos": [ + 0.62, + 0.0, + 0.5 + ], + "planner_mode": 1 + }, + "AssemblyInsert": { + "plan_mode": 1, + "max_lin": 0.002, + "max_rot_deg": 1.0, + "settle_ticks": 3, + "servo_max_steps": 600, + "lateral_gate": 0.002, + "stall_ticks": 60, + "stall_min_progress": 0.8, + "carry_lost": 0.25, + "open_value": 0.0 + } + }, + "auto_collect": { + "task_type": "assembly", + "max_trajectories": 1 + }, + "record": { + "output_dir": "/mnt/scratch/xc536_atomic/n025_saw_off_1048/out", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "visual_dr": { + "keep": [ + "wedge", + "shim_board" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_off/seed_1048/stationassembly/000/sim_info/0/actions.npz b/N025/sawyer_umi/dr_off/seed_1048/stationassembly/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..659b2a9de0b979c4a05b6ab737279603af3bcf7c --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1048/stationassembly/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5cdd44d7dad21e16080f8a7b08e3f1af498c516805e53f4a292075068a108def +size 422476 diff --git a/N025/sawyer_umi/dr_off/seed_1048/stationassembly/000/sim_info/0/device_commands.jsonl b/N025/sawyer_umi/dr_off/seed_1048/stationassembly/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N025/sawyer_umi/dr_off/seed_1048/stationassembly/000/sim_info/0/device_events.jsonl b/N025/sawyer_umi/dr_off/seed_1048/stationassembly/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N025/sawyer_umi/dr_off/seed_1048/stationassembly/000/sim_info/0/scene_snapshot.json b/N025/sawyer_umi/dr_off/seed_1048/stationassembly/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..52cb25da141f150736924340188870ca75603ca0 --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1048/stationassembly/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,334 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationassembly/000", + "task_type": "StationAssembly", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -2.0, + 1.5, + 0.23 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.78, + 0.72, + 0.62 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + } + }, + "type_specific": {} + } + ], + "table_B": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.2, + 3.0, + 0.23 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.62, + 0.72, + 0.78 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + } + }, + "type_specific": {} + } + ], + "shim_board": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MobileAssembly/shim_board_a05/Object.usd", + "pose": { + "pos": [ + 1.1935100555419922, + 3.169879913330078, + 0.4300000071525574 + ], + "ori": [ + 0.7109468579292297, + 0.0, + 0.0, + -0.7032457590103149 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "collision": true, + "fixed_base": true, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.05235988274216652 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "wedge": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MobileAssembly/wedge_a05/Object.usd", + "pose": { + "pos": [ + -1.933019995689392, + 1.431839942932129, + 0.4300000071525574 + ], + "ori": [ + 0.7431598901748657, + -3.129243850708008e-07, + -2.0116567611694336e-07, + 0.6691137552261353 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.03129, + "physics_material": { + "static_friction": 0.8, + "dynamic_friction": 0.7, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.5602176063111983e-05, + -7.019807526376098e-07, + -6.819355348852696e-06 + ], + "angular_velocity": [ + 9.657210466684774e-05, + 0.0011189122451469302, + -2.0878584109595977e-05 + ] + } + } + ] + } + ], + "artifacts": [ + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1193.58727, + "texture": null, + "color": [ + 0.85, + 0.85, + 0.85 + ] + } + } + }, + "robots": { + "RidgebackSawyerUmi": { + "root_pose": [ + [ + -3.6219699382781982, + -2.6170101165771484, + 0.05999999865889549, + 0.8098986148834229, + 0.0, + 0.0, + 0.5865699052810669 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.600000023841858, + 0.0, + 0.5, + 0.0, + 2.700000047683716, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "head": [ + [ + 0.21660000085830688, + 0.0, + -0.04500000178813934, + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + ], + "wrist": [ + [ + 0.05979999899864197, + 0.0, + 0.029999999329447746, + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_off/seed_1048/stationassembly/000/sim_info/0/sim_states.npz b/N025/sawyer_umi/dr_off/seed_1048/stationassembly/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..b7bb16df47d4a644c72513fc25b6b8c3b1e4c656 --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1048/stationassembly/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:137b30b9ef3c8e965a7601cbbf3cde3ba7ad6997d7154971eb480003da7360a1 +size 382025 diff --git a/N025/sawyer_umi/dr_off/seed_1048/stationassembly/000/sim_info/magicsim_manifest.json b/N025/sawyer_umi/dr_off/seed_1048/stationassembly/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..a637ba585393cd34f0e714f0c5fcaf5ca8ba04f2 --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1048/stationassembly/000/sim_info/magicsim_manifest.json @@ -0,0 +1,233 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 10:57:29" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "RidgebackSawyerUmi.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HolonomicAction", + "names_source": "_joint_names" + }, + { + "name": "RidgebackSawyerUmi.arm_action", + "start": 3, + "end": 10, + "names": [ + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z" + ], + "source": "PinkInverseKinematicsAction", + "names_source": "pink_layout" + }, + { + "name": "RidgebackSawyerUmi.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_pos", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + }, + { + "name": "RidgebackSawyerUmi.gripper_pos", + "start": 13, + "end": 15, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 13, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_vel", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.21660000085830688, + 0.0, + -0.04500000178813934 + ], + "quat": [ + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.05979999899864197, + 0.0, + 0.029999999329447746 + ], + "quat": [ + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + } + }, + "generated_run": { + "run_id": "stationassembly/000", + "task_type": "StationAssembly" + } +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_on/seed_2048/check.json b/N025/sawyer_umi/dr_on/seed_2048/check.json new file mode 100644 index 0000000000000000000000000000000000000000..ea9789f35c2a61fc02d463eef9df28ba3c688286 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2048/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1377 rows vs ceil(2754/2) = 1377" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..2783, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "38.07 MB, 1377 frames at 25 fps, mean luma 97..139, std 44, new picture 1376x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1377 vs 1377" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "36.78 MB, 1377 frames at 25 fps, mean luma 99..181, std 41, new picture 1376x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1377 vs 1377" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_on/seed_2048/check.txt b/N025/sawyer_umi/dr_on/seed_2048/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..8b919bb22cafc24ce7b4f6986b07d9c8c4c56379 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2048/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_saw_on_2048/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_saw_on_2048/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1377 videos 2 robot_type RidgebackSawyerUmiCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 1377 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.' +rows 1377 at dataset fps 25 = 55.08 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1377 rows vs ceil(2754/2) = 1377 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..2783, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 38.07 MB, 1377 frames at 25 fps, mean luma 97..139, std 44, new picture 1376x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1377 vs 1377 +[PASS] video observation.images.wrist decodes, 640x480, not black: 36.78 MB, 1377 frames at 25 fps, mean luma 99..181, std 41, new picture 1376x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1377 vs 1377 +parquet size 2.04 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 77.06 MB; whole cell dir 78.0 MB +RESULT: ALL PASS diff --git a/N025/sawyer_umi/dr_on/seed_2048/report.json b/N025/sawyer_umi/dr_on/seed_2048/report.json new file mode 100644 index 0000000000000000000000000000000000000000..7820815170124a5b13869a4379ddee3d5773cfac --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2048/report.json @@ -0,0 +1,1790 @@ +{ + "task": "N025", + "agent_id": null, + "embodiment": "sawyer_umi", + "level": "easy", + "scene_seed": 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0000000000000000000000000000000000000000..77c8b9ab04778c7a35d94fb72d971a1fe272b9d8 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2048/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,518 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "StationAssembly", + "subsample_every": 2, + "control_steps": 2754, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 4.246913562236316, + 1.1443722056706798, + 0.16999999926128698 + ], + "bbox": { + "extent": [ + 1.0, + 1.0000000000000002, + 1.0 + ], + "center": [ + 0.0, + -1.1102230246251565e-16, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + "inst_id": 1, + "noun": "table B", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 7.315316668572211, + 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table height", + "extrinsics": { + "R": [ + [ + -8.039232568535226e-08, + -0.9999999999999964, + 2.5347603738179458e-08 + ], + [ + 0.8191520331270514, + -8.039232568535226e-08, + -0.5735764522919431 + ], + [ + 0.5735764522919431, + -2.5347603738179458e-08, + 0.819152033127055 + ] + ], + "t": [ + 1.855362002599171e-08, + -0.2032392724571752, + -0.08737481710326404 + ] + } + }, + { + "name": "wrist", + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 4.205771712832364, + -1.4033882583786748, + -0.030000006232879607 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + 0.0, + 1.0, + -1.4782795217992896e-16 + ], + [ + 1.0, + 0.0, + 2.5363269588459423e-17 + ], + [ + 2.5363269588459423e-17, + -1.4782795217992896e-16, + -1.0 + ] + ], + "t": [ + 4.4348384662715026e-18, + -0.05979999899864197, + 0.029999999329447746 + ] + } + } + ], + "robots": [ + { + "name": "RidgebackSawyerUmi", + "model": "ridgebacksawyer_umi", + "type": "mobilemanip", + "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.50849, + -2.63189, + 0.06 + ], + "ori": [ + 0.8877044916152954, + 0.0, + 0.0, + 0.4604136049747467 + ] + }, + "facing_yaw_deg": 54.82759897045, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1195.02564, + "ambient": "dim" + }, + "effects": [], + "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is in front of the wedge. The gray table B is to the right of the shim board. The shim board is on top of the gray table B. The shim board is to the left of the gray table B. The wedge is on top of the gray table A. The wedge is behind the gray table A. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [shim board]\n\n\n [table A]\n[wedge]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationAssembly", + "instruction": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.", + "template_id": -1, + "slots": { + "obj": 1.5707963267948966, + "support": null + }, + "generic_instruction": "Stationassembly the 1.5707963267948966.", + "task_id": "N025", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0651": { + "frame_idx": 651, + "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0660": { + "frame_idx": 660, + "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0780": { + "frame_idx": 780, + "caption": "Working on the small wedge; the right gripper is below and to the left of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_0884": { + "frame_idx": 884, + "caption": "Working on the small wedge; the right gripper is below the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1153": { + "frame_idx": 1153, + "caption": "Done — the small wedge is grasped; the right gripper is below the wedge.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1154": { + "frame_idx": 1154, + "caption": "Working on the small wedge; the right gripper is below the wedge.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1180": { + "frame_idx": 1180, + "caption": "Working on the small wedge; the right gripper is below and to the left of the wedge.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1209": { + "frame_idx": 1209, + "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2280": { + "frame_idx": 2280, + "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2303": { + "frame_idx": 2303, + "caption": "Working on the medium shim board; the right gripper is below and to the left of and in front of the shim board.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2508": { + "frame_idx": 2508, + "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2511": { + "frame_idx": 2511, + "caption": "Working on the small wedge; the right gripper is below and to the left of and behind the wedge.", + 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of file diff --git a/N025/stretch3/dr_off/seed_1056/check.json b/N025/stretch3/dr_off/seed_1056/check.json new file mode 100644 index 0000000000000000000000000000000000000000..326732a5c4324ec746971d115228dda6bef424df --- /dev/null +++ b/N025/stretch3/dr_off/seed_1056/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2479 rows vs ceil(4958/2) = 2479" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..4987, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "21.68 MB, 2479 frames at 25 fps, mean luma 108..147, std 15, new picture 2478x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2479 vs 2479" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "41.83 MB, 2479 frames at 25 fps, mean luma 123..167, std 29, new picture 2478x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2479 vs 2479" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N025/stretch3/dr_off/seed_1056/check.txt b/N025/stretch3/dr_off/seed_1056/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..894ab7a8927c79e5f59a03821802760392ce2a27 --- /dev/null +++ b/N025/stretch3/dr_off/seed_1056/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_str_off_1056/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_str_off_1056/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2479 videos 2 robot_type HelloRobotCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 2479 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.' +rows 2479 at dataset fps 25 = 99.16 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2479 rows vs ceil(4958/2) = 2479 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..4987, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 21.68 MB, 2479 frames at 25 fps, mean luma 108..147, std 15, new picture 2478x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2479 vs 2479 +[PASS] video observation.images.wrist decodes, 640x480, not black: 41.83 MB, 2479 frames at 25 fps, mean luma 123..167, std 29, new picture 2478x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2479 vs 2479 +parquet size 2.91 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 66.61 MB; whole cell dir 68.1 MB +RESULT: ALL PASS diff --git a/N025/stretch3/dr_off/seed_1056/report.json b/N025/stretch3/dr_off/seed_1056/report.json new file mode 100644 index 0000000000000000000000000000000000000000..4b092f73986260504ccc3e16f05fd286ff914bf2 --- /dev/null +++ b/N025/stretch3/dr_off/seed_1056/report.json @@ -0,0 +1,2898 @@ +{ + "task": "N025", + "agent_id": null, + "embodiment": "stretch3", + "level": "easy", + "scene_seed": 1056, + "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)", + "config": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/src/magicsim/Collect/Task/MobileAssembly/Conf/n025_wedge_shim.yaml", + "full_success": 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There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is in front of the wedge. The gray table B is to the right of the shim board. The shim board is on top of the gray table B. The shim board is to the left of the gray table B. The wedge is on top of the gray table A. The wedge is behind the gray table A. The scene is viewed from front, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [shim board]\n\n\n[table A]\n[wedge]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationAssembly", + "instruction": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.", + "template_id": -1, + "slots": { + "obj": 3.141592653589793, + "support": null + }, + "generic_instruction": "Stationassembly the 3.141592653589793.", + "task_id": "N025", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_1679": { + "frame_idx": 1679, + "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavToTrim", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": 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"/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MobileAssembly/shim_board_a05/Object.usd", + "pose": { + "pos": [ + 1.2206000089645386, + 3.1948699951171875, + 0.4300000071525574 + ], + "ori": [ + -0.6937054395675659, + 0.0, + 0.0, + 0.7202588319778442 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "collision": true, + "fixed_base": true, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.05235988274216652 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "wedge": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MobileAssembly/wedge_a05/Object.usd", + "pose": { + "pos": [ + -2.0443899631500244, + 1.389159917831421, + 0.429999977350235 + ], + "ori": [ + 0.6477823257446289, + 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a/N025/stretch3/dr_off/seed_1056/stationassembly/000/sim_info/0/sim_states.npz b/N025/stretch3/dr_off/seed_1056/stationassembly/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..e7ceb3ffce20b84ef4b598967a14c6f5eb9e449a --- /dev/null +++ b/N025/stretch3/dr_off/seed_1056/stationassembly/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a25ed79e166a5ef914b2ad2ba8fba76bc88a5b539024b65c4704f0df7a37d849 +size 723612 diff --git a/N025/stretch3/dr_off/seed_1056/stationassembly/000/sim_info/magicsim_manifest.json b/N025/stretch3/dr_off/seed_1056/stationassembly/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..680c8ae6ceade794c573dd2aa5c72427af9014f0 --- /dev/null +++ b/N025/stretch3/dr_off/seed_1056/stationassembly/000/sim_info/magicsim_manifest.json @@ -0,0 +1,228 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 10:46:53" + }, + "embodiment": { + "robots": [ + { + "name": "HelloRobot", + "cfg": "HelloRobotCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "HelloRobot.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HelloRobotBaseAction", + "names_source": "_joint_names" + }, + { + "name": "HelloRobot.arm_action", + "start": 3, + "end": 10, + "names": [ + "arm_action_0", + "arm_action_1", + "arm_action_2", + "arm_action_3", + "arm_action_4", + "arm_action_5", + "arm_action_6" + ], + "source": "HelloRobotIKAction", + "names_source": "fallback" + }, + { + "name": "HelloRobot.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "HelloRobot.joint_pos", + "start": 0, + "end": 15, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "joint_vel_layout": { + "dim": 15, + "segments": [ + { + "name": "HelloRobot.joint_vel", + "start": 0, + "end": 15, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 811.3606627541883, + 0.0, + 320.0 + ], + [ + 0.0, + 811.3606388722814, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 43.048473468183616, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.04977099969983101, + -0.002942000050097704, + 1.2957229614257812 + ], + "quat": [ + -0.6254264116287231, + -0.3299117982387543, + 0.32990962266921997, + 0.6254276037216187 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 426.91786449658065, + 0.0, + 320.0 + ], + [ + 0.0, + 426.9178503597538, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 73.70742419505024, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.008999999612569809, + 0.06293900310993195, + 0.056398000568151474 + ], + "quat": [ + -1.5083966786733072e-07, + 1.7244702803509426e-06, + 0.9961962699890137, + 0.08713743835687637 + ] + } + }, + "generated_run": { + "run_id": "stationassembly/000", + "task_type": "StationAssembly" + } +} \ No newline at end of file diff --git a/N025/stretch3/dr_on/seed_2059/check.json b/N025/stretch3/dr_on/seed_2059/check.json new file mode 100644 index 0000000000000000000000000000000000000000..17f06c0736c134869001de118b1da4977a92bb3e --- /dev/null +++ b/N025/stretch3/dr_on/seed_2059/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2453 rows vs ceil(4905/2) = 2453" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..4935, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "64.67 MB, 2453 frames at 25 fps, mean luma 39..91, std 31, new picture 2452x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2453 vs 2453" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "50.32 MB, 2453 frames at 25 fps, mean luma 63..147, std 44, new picture 2452x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2453 vs 2453" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N025/stretch3/dr_on/seed_2059/check.txt b/N025/stretch3/dr_on/seed_2059/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..bf671eb62e5d195fbff63d4af0ab5f50984ac840 --- /dev/null +++ b/N025/stretch3/dr_on/seed_2059/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_str_on_2059/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_str_on_2059/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2453 videos 2 robot_type HelloRobotCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 2453 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.' +rows 2453 at dataset fps 25 = 98.12 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2453 rows vs ceil(4905/2) = 2453 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..4935, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 64.67 MB, 2453 frames at 25 fps, mean luma 39..91, std 31, new picture 2452x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2453 vs 2453 +[PASS] video observation.images.wrist decodes, 640x480, not black: 50.32 MB, 2453 frames at 25 fps, mean luma 63..147, std 44, new picture 2452x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2453 vs 2453 +parquet size 2.77 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 117.95 MB; whole cell dir 119.4 MB +RESULT: ALL PASS diff --git a/N025/stretch3/dr_on/seed_2059/report.json b/N025/stretch3/dr_on/seed_2059/report.json new file mode 100644 index 0000000000000000000000000000000000000000..44a56d7e68668a7ab2cdee5ab6d203d04734e930 --- /dev/null +++ b/N025/stretch3/dr_on/seed_2059/report.json @@ -0,0 +1,2898 @@ +{ + "task": "N025", + "agent_id": null, + "embodiment": "stretch3", + "level": "easy", + "scene_seed": 2059, + "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)", + "config": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/src/magicsim/Collect/Task/MobileAssembly/Conf/n025_wedge_shim.yaml", + "full_success": true, + "failure_reason": null, + "dr": { + "seed": 2059, + "wedge": { + "dx": 0.07388, + "dy": 0.04067, + "yaw_deg": 8.07696 + }, + "shim_board": { + "dx": 0.01634, + "dy": 0.0428, + "yaw_deg": -1.94768 + }, + "wedge_mass": 0.03618, + "light": 910.10251, + "spawn": { + "dx": -0.01362, + "dy": 0.11308, + "yaw_deg": -12.46473 + }, + "overrides": { + "env.scene.objects.wedge.common.pos": [ + -1.92612, + 1.44067, + 0.431 + ], + "env.scene.objects.wedge.common.ori": [ + 0.0, + 0.0, + 98.07696 + ], + "env.scene.objects.shim_board.common.pos": [ + 1.21634, + 3.1928, + 0.43 + ], + "env.scene.objects.shim_board.common.ori": [ + 0.0, + 0.0, + -91.94768 + ], + "env.scene.objects.wedge.wedge_1.physics.mass": 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0000000000000000000000000000000000000000..f5db65c4cefef6744576604bedb79c227a27fca6 --- /dev/null +++ b/N025/stretch3/dr_on/seed_2059/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,654 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "StationAssembly", + "subsample_every": 2, + "control_steps": 4905, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 3.957624067712466, + 1.4314758041562021, + 0.16999963754842465 + ], + "bbox": { + "extent": [ + 1.0, + 1.0000000000000002, + 1.0 + ], + "center": [ + 0.0, + -1.1102230246251565e-16, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + "inst_id": 1, + "noun": "table B", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 7.223792882747289, + 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There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is to the left of the wedge. The gray table B is to the right of the shim board. The shim board is on top of the gray table B. The shim board is to the left of the gray table B. The wedge is on top of the gray table A. The wedge is to the right of the gray table A. The scene is viewed from front, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [shim board]\n\n\n\n[t[wedge]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationAssembly", + "instruction": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.", + "template_id": -1, + "slots": { + "obj": 3.141592653589793, + "support": null + }, + "generic_instruction": "Stationassembly the 3.141592653589793.", + "task_id": "N025", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_1648": { + "frame_idx": 1648, + "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavToTrim", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + 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a/N032/sawyer_umi/dr_on/seed_2053/check.json b/N032/sawyer_umi/dr_on/seed_2053/check.json new file mode 100644 index 0000000000000000000000000000000000000000..b329fbfcf46fb5dbe8a312f27576f18c9f60e6be --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2053/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2725 rows vs ceil(5450/2) = 2725" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5549, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "72.00 MB, 2725 frames at 25 fps, mean luma 85..148, std 37, new picture 2724x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2725 vs 2725" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "66.48 MB, 2725 frames at 25 fps, mean luma 67..156, std 33, new picture 2724x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2725 vs 2725" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationpuzzlexr/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N032/sawyer_umi/dr_on/seed_2053/check.txt b/N032/sawyer_umi/dr_on/seed_2053/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..9c71ca7c40f257e9922584527cd3d866283dcf82 --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2053/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_saw_on_2053/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_saw_on_2053/out/rec/stationpuzzlexr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2725 videos 2 robot_type RidgebackSawyerUmiCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 2725 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z'] +[PASS] task text = MobileBench instruction: task_index 0: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.' +rows 2725 at dataset fps 25 = 109.00 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2725 rows vs ceil(5450/2) = 2725 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5549, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 72.00 MB, 2725 frames at 25 fps, mean luma 85..148, std 37, new picture 2724x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2725 vs 2725 +[PASS] video observation.images.wrist decodes, 640x480, not black: 66.48 MB, 2725 frames at 25 fps, mean luma 67..156, std 33, new picture 2724x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2725 vs 2725 +parquet size 3.78 MB +[PASS] sim_info present: rec/stationpuzzlexr/000/sim_info +dataset size 142.48 MB; whole cell dir 144.2 MB +RESULT: ALL PASS diff --git a/N032/sawyer_umi/dr_on/seed_2053/rec/stationpuzzlexr/000/completed/0.json b/N032/sawyer_umi/dr_on/seed_2053/rec/stationpuzzlexr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..0ea26fd1750065ae505310bf089fab096819eb7a --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2053/rec/stationpuzzlexr/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationpuzzlexr/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N032/sawyer_umi/dr_on/seed_2053/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/sawyer_umi/dr_on/seed_2053/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..520de6a75cdb9cc8f723352fd7ad27336defd6e9 --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2053/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:353538cc2f7217cdcfff327b08dcd686491c439c3742cf2badc5081266cd608a +size 3778476 diff --git a/N032/sawyer_umi/dr_on/seed_2053/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes.jsonl b/N032/sawyer_umi/dr_on/seed_2053/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d105ac6c5cc4f1014169e247904844acd91dd180 --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2053/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap."], "length": 2725, "magicsim/control_steps": 5450, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a medium gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is to the right of the cand O. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is in front of the gray board 0. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is to the left of the gray table B. The scene is viewed from front, at table height."} diff --git a/N032/sawyer_umi/dr_on/seed_2053/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/sawyer_umi/dr_on/seed_2053/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..03b89213ccd30216addfbc52cc57555367980211 --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2053/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.1088188454966753, -0.0009558563662368223, 0.006560008692482504, 0.6241846352378163, 0.6513679739532121, 1.0386240696032112, 0.21312331391583889, 0.029337176241230545, 0.2807473097912489, 0.19279969993807855, 0.39376146788990823], "std": [0.1339224671011058, 0.014330552263051397, 0.23654035730990045, 1.2840087938315405, 1.7159725949052151, 0.2877608644133625, 0.5049147720335823, 0.3024328059875215, 0.3915906960833963, 0.5813596160167022, 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"dexterous": false, + "base_pose": { + "pos": [ + -3.4, + -2.2, + 0.05 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a medium gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is to the right of the cand O. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is in front of the gray board 0. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is to the left of the gray table B. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [cand O] B[tile]\n\n\n\n [picture cap]\n\n\n\n[robot]" + }, + "task": { + "task_type": "StationPuzzleXR", + "instruction": "Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.", + "template_id": -1, + "slots": { + "obj": 1.4784368620664226, + "support": null + }, + "generic_instruction": "Stationpuzzlexr the 1.4784368620664226.", + "task_id": "N032", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": {} + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N032/sawyer_umi/dr_on/seed_2053/rec/stationpuzzlexr/000/lerobot_v21/meta/info.json b/N032/sawyer_umi/dr_on/seed_2053/rec/stationpuzzlexr/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..53e4a6fede412e565321802fae58dc60906573eb --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2053/rec/stationpuzzlexr/000/lerobot_v21/meta/info.json @@ -0,0 +1,331 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 2725, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z", + "gripper" + ] + }, + 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"height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N032/sawyer_umi/dr_on/seed_2053/rec/stationpuzzlexr/000/lerobot_v21/meta/magicsim_manifest.json b/N032/sawyer_umi/dr_on/seed_2053/rec/stationpuzzlexr/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..e083a226460baa61062ec32bcf1ea2abf69a10f4 --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2053/rec/stationpuzzlexr/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,264 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 10:47:45" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + 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file mode 100644 index 0000000000000000000000000000000000000000..43d9ab47647631f4a6e59a1be376193964352804 --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2054/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2669 rows vs ceil(5337/2) = 2669" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5437, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "102.65 MB, 2669 frames at 25 fps, mean luma 65..108, std 43, new picture 2668x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2669 vs 2669" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "87.04 MB, 2669 frames at 25 fps, mean luma 54..156, std 39, new picture 2668x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2669 vs 2669" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationpuzzlexr/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N032/sawyer_umi/dr_on/seed_2054/check.txt b/N032/sawyer_umi/dr_on/seed_2054/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..7798b190907363c8ac5a1fd8bef3dd4da98f884f --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2054/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_saw_on_2054/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_saw_on_2054/out/rec/stationpuzzlexr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2669 videos 2 robot_type RidgebackSawyerUmiCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 2669 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z'] +[PASS] task text = MobileBench instruction: task_index 0: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.' +rows 2669 at dataset fps 25 = 106.76 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2669 rows vs ceil(5337/2) = 2669 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5437, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 102.65 MB, 2669 frames at 25 fps, mean luma 65..108, std 43, new picture 2668x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2669 vs 2669 +[PASS] video observation.images.wrist decodes, 640x480, not black: 87.04 MB, 2669 frames at 25 fps, mean luma 54..156, std 39, new picture 2668x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2669 vs 2669 +parquet size 3.51 MB +[PASS] sim_info present: rec/stationpuzzlexr/000/sim_info +dataset size 193.40 MB; whole cell dir 195.1 MB +RESULT: ALL PASS diff --git a/N032/sawyer_umi/dr_on/seed_2054/rec/stationpuzzlexr/000/completed/0.json b/N032/sawyer_umi/dr_on/seed_2054/rec/stationpuzzlexr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..0ea26fd1750065ae505310bf089fab096819eb7a --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2054/rec/stationpuzzlexr/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationpuzzlexr/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N032/sawyer_umi/dr_on/seed_2054/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/sawyer_umi/dr_on/seed_2054/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..4fb7a11b3d2fe70de246ad07c1ed63b7581f1b8e --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2054/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:189d79cd0be1a19a43e9e84efda42ee0d889fd4a2bdadba8d52b665124173803 +size 3510725 diff --git a/N032/sawyer_umi/dr_on/seed_2054/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes.jsonl b/N032/sawyer_umi/dr_on/seed_2054/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b872583c3dc67213e8f2e6541bae2d996dc34e1a --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2054/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap."], "length": 2669, "magicsim/control_steps": 5337, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a medium gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is in front of the cand O. The gray board 0 is to the right of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is to the right of the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is behind the gray table B. The scene is viewed from front, at table height."} diff --git a/N032/sawyer_umi/dr_on/seed_2054/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/sawyer_umi/dr_on/seed_2054/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cca328069294d193d24589075e27b2109116ed53 --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2054/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.10223762971918182, 0.000650237296432614, 0.01105167769158989, 0.5050805999561391, 0.7412263303269336, 1.03408984338, 0.22387478697965457, 0.04329125778019209, 0.2841540183592832, 0.1705999281068963, 0.3862869988759835], "std": [0.13229943882968173, 0.017766731729092888, 0.23211289468333424, 1.295847156365514, 1.5428082441817956, 0.2899537628299826, 0.5038509614620792, 0.2914623679165818, 0.39652832968444557, 0.5848991823207049, 0.48689768265557626], 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There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a medium gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is in front of the cand O. The gray board 0 is to the right of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is to the right of the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is behind the gray table B. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[cand O]]\n\n\n\n [[picture cap]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationPuzzleXR", + "instruction": "Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.", + "template_id": -1, + "slots": { + "obj": 1.4901675768746765, + "support": null + }, + "generic_instruction": "Stationpuzzlexr the 1.4901675768746765.", + "task_id": "N032", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": {} + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N032/sawyer_umi/dr_on/seed_2054/rec/stationpuzzlexr/000/lerobot_v21/meta/info.json b/N032/sawyer_umi/dr_on/seed_2054/rec/stationpuzzlexr/000/lerobot_v21/meta/info.json new file mode 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4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relatvie_pos_arm_base:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_effort:(1, 13):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_pos:(1, 13):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_vel:(1, 13):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1293.4, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 42.8 + } +} diff --git a/N032/stretch3/dr_off/seed_1089/check.json b/N032/stretch3/dr_off/seed_1089/check.json new file mode 100644 index 0000000000000000000000000000000000000000..76e76f895bec554eeac6d8becef0d2c0367780e4 --- /dev/null +++ b/N032/stretch3/dr_off/seed_1089/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2661 rows vs ceil(5321/2) = 2661" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5421, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "26.70 MB, 2661 frames at 25 fps, mean luma 112..156, std 12, new picture 2660x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2661 vs 2661" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "59.60 MB, 2661 frames at 25 fps, mean luma 112..171, std 29, new picture 2660x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2661 vs 2661" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationpuzzlestretch/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N032/stretch3/dr_off/seed_1089/check.txt b/N032/stretch3/dr_off/seed_1089/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..1492a8104f039468648ef0ce886b004e31a5a8f3 --- /dev/null +++ b/N032/stretch3/dr_off/seed_1089/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_str_off_1089/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_str_off_1089/out/rec/stationpuzzlestretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2661 videos 2 robot_type HelloRobotCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 2661 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] +[PASS] task text = MobileBench instruction: task_index 0: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.' +rows 2661 at dataset fps 25 = 106.44 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2661 rows vs ceil(5321/2) = 2661 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5421, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 26.70 MB, 2661 frames at 25 fps, mean luma 112..156, std 12, new picture 2660x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2661 vs 2661 +[PASS] video observation.images.wrist decodes, 640x480, not black: 59.60 MB, 2661 frames at 25 fps, mean luma 112..171, std 29, new picture 2660x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2661 vs 2661 +parquet size 4.30 MB +[PASS] sim_info present: rec/stationpuzzlestretch/000/sim_info +dataset size 90.82 MB; whole cell dir 92.7 MB +RESULT: ALL PASS diff --git a/N032/stretch3/dr_off/seed_1089/rec/stationpuzzlestretch/000/completed/0.json b/N032/stretch3/dr_off/seed_1089/rec/stationpuzzlestretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..2b614a937da99960d58d2a321fefcbc4aa6cfa5e --- /dev/null +++ b/N032/stretch3/dr_off/seed_1089/rec/stationpuzzlestretch/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationpuzzlestretch/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N032/stretch3/dr_off/seed_1089/rec/stationpuzzlestretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/stretch3/dr_off/seed_1089/rec/stationpuzzlestretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..09d913c8abffd511dd473822178c420b3879a7a9 --- /dev/null +++ b/N032/stretch3/dr_off/seed_1089/rec/stationpuzzlestretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ecd3548c60e6679316d6a5e5f42d54c6bf9cc391baeff7b8adbd6d01c808d307 +size 4300668 diff --git a/N032/stretch3/dr_off/seed_1089/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes.jsonl b/N032/stretch3/dr_off/seed_1089/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ea15059ea621c2f8c58fb586c4d300ae73972ec6 --- /dev/null +++ b/N032/stretch3/dr_off/seed_1089/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap."], "length": 2661, "magicsim/control_steps": 5321, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a medium gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is to the left of the tile. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is in front of the gray board 0. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is to the left of the gray table B. The scene is viewed from front, slightly above table height."} diff --git a/N032/stretch3/dr_off/seed_1089/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/stretch3/dr_off/seed_1089/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a12c2d4a15559f7cc40dbaabe79c19a54ce96da3 --- /dev/null +++ b/N032/stretch3/dr_off/seed_1089/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.03140843490314345, 0.0, 0.02168638042983806, 0.30095197289078945, 0.3357863129389237, 0.7122218474236165, -0.28130948684766144, -0.002254958256885045, -0.05932471763350434, -0.05492990545449692, 0.4404359263434799], "std": [0.17813906857965414, 0.0, 0.21009292742708643, 1.126448653350529, 1.5543239051733115, 0.1538318866513155, 0.5188451856138014, 0.3300707345833668, 0.38558248803174244, 0.6224966944885243, 0.496439443567334], 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}, + { + "subject": "tile_1", + "relation": "right_of", + "object": "table_B_1" + }, + { + "subject": "cand_O_1", + "relation": "on_top_of", + "object": "table_B_1" + }, + { + "subject": "cand_O_1", + "relation": "left_of", + "object": "table_B_1" + } + ], + "cameras": [ + { + "name": "head", + "intrinsics": { + "K": [ + [ + 811.3606627541883, + 0.0, + 320.0 + ], + [ + 0.0, + 811.3606388722814, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 43.048473468183616, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 4.065404159952551, + -0.417273916339497, + 1.2357226197879552 + ], + "viewpoint": "front, slightly above table height", + "extrinsics": { + "R": [ + [ + -5.56468016110756e-08, + -0.9999999999938459, + -3.5078881838734866e-06 + ], + [ + 0.5646357088821415, + -2.9266214562895243e-06, + 0.825340242716055 + ], + [ + -0.825340242721242, + -1.9347513867118415e-06, + 0.5646357088788294 + ] + ], + "t": [ + -0.0029374520292166934, + -1.0975147957833271, + 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"base_pose": { + "pos": [ + -3.4, + -2.2, + 0.06 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a medium gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is to the left of the tile. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is in front of the gray board 0. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is to the left of the gray table B. The scene is viewed from front, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[cand O]tile]\n\n\n\n [picture cap]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationPuzzleStretch", + "instruction": "Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.", + "template_id": -1, + "slots": { + "obj": 3.0578747381075395, + "support": null + }, + "generic_instruction": "Stationpuzzlestretch the 3.0578747381075395.", + "task_id": "N032", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": {} + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N032/stretch3/dr_off/seed_1089/rec/stationpuzzlestretch/000/lerobot_v21/meta/info.json b/N032/stretch3/dr_off/seed_1089/rec/stationpuzzlestretch/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..893f35139d48b97b0cdb8e413c65396a781bcd8b --- /dev/null +++ b/N032/stretch3/dr_off/seed_1089/rec/stationpuzzlestretch/000/lerobot_v21/meta/info.json @@ -0,0 +1,333 @@ +{ + "codebase_version": "v2.1", + "robot_type": "HelloRobotCfg", + "total_episodes": 1, + "total_frames": 2661, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "arm_action_0", + "arm_action_1", + "arm_action_2", + 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"joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 84 + ], + "names": [ + "object_pose.board_0.0", + "object_pose.board_0.1", + "object_pose.board_0.2", + "object_pose.board_0.3", + "object_pose.board_0.4", + "object_pose.board_0.5", + "object_pose.board_0.6", + "object_pose.board_1.0", + "object_pose.board_1.1", + "object_pose.board_1.2", + "object_pose.board_1.3", + "object_pose.board_1.4", + "object_pose.board_1.5", + "object_pose.board_1.6", + "object_pose.board_2.0", + "object_pose.board_2.1", + "object_pose.board_2.2", + "object_pose.board_2.3", + "object_pose.board_2.4", + "object_pose.board_2.5", + "object_pose.board_2.6", + "object_pose.board_3.0", + "object_pose.board_3.1", + "object_pose.board_3.2", + "object_pose.board_3.3", + "object_pose.board_3.4", + 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"object_pose.picture_cap.5", + "object_pose.picture_cap.6", + "object_pose.table_A.0", + "object_pose.table_A.1", + "object_pose.table_A.2", + "object_pose.table_A.3", + "object_pose.table_A.4", + "object_pose.table_A.5", + "object_pose.table_A.6", + "object_pose.table_B.0", + "object_pose.table_B.1", + "object_pose.table_B.2", + "object_pose.table_B.3", + "object_pose.table_B.4", + "object_pose.table_B.5", + "object_pose.table_B.6", + "object_pose.tile.0", + "object_pose.tile.1", + "object_pose.tile.2", + "object_pose.tile.3", + "object_pose.tile.4", + "object_pose.tile.5", + "object_pose.tile.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 864 + ], + "names": null + }, + "action.applied": { + "dtype": "float32", + "shape": [ + 13 + ], + "names": null + }, + "narration": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "collect_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "extra.reward": { + "dtype": "float32", + 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"/robot_state[0]/HelloRobot/base_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/joint_effort:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_pos:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_vel:(1, 15):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1510.7, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 42.3 + } +} diff --git a/N032/stretch3/dr_on/seed_2065/check.json b/N032/stretch3/dr_on/seed_2065/check.json new file mode 100644 index 0000000000000000000000000000000000000000..91ce97b9101bb6da94f714765d92dd5f665cb731 --- /dev/null +++ b/N032/stretch3/dr_on/seed_2065/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2821 rows vs ceil(5642/2) = 2821" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5741, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "124.33 MB, 2821 frames at 25 fps, mean luma 59..106, std 43, new picture 2820x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2821 vs 2821" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "89.22 MB, 2821 frames at 25 fps, mean luma 55..145, std 46, new picture 2820x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2821 vs 2821" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationpuzzlestretch/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N032/stretch3/dr_on/seed_2065/check.txt b/N032/stretch3/dr_on/seed_2065/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..84df4b323f23d3205007bd79cb6993b1f6e43c89 --- /dev/null +++ b/N032/stretch3/dr_on/seed_2065/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_str_on_2065/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_str_on_2065/out/rec/stationpuzzlestretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2821 videos 2 robot_type HelloRobotCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 2821 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] +[PASS] task text = MobileBench instruction: task_index 0: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.' +rows 2821 at dataset fps 25 = 112.84 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2821 rows vs ceil(5642/2) = 2821 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5741, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 124.33 MB, 2821 frames at 25 fps, mean luma 59..106, std 43, new picture 2820x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2821 vs 2821 +[PASS] video observation.images.wrist decodes, 640x480, not black: 89.22 MB, 2821 frames at 25 fps, mean luma 55..145, std 46, new picture 2820x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2821 vs 2821 +parquet size 4.64 MB +[PASS] sim_info present: rec/stationpuzzlestretch/000/sim_info +dataset size 218.39 MB; whole cell dir 220.5 MB +RESULT: ALL PASS diff --git a/N032/stretch3/dr_on/seed_2065/rec/stationpuzzlestretch/000/completed/0.json b/N032/stretch3/dr_on/seed_2065/rec/stationpuzzlestretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..2b614a937da99960d58d2a321fefcbc4aa6cfa5e --- /dev/null +++ b/N032/stretch3/dr_on/seed_2065/rec/stationpuzzlestretch/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationpuzzlestretch/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N032/stretch3/dr_on/seed_2065/rec/stationpuzzlestretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/stretch3/dr_on/seed_2065/rec/stationpuzzlestretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..acef66a575d522fdd6321af6628be1294ac05cd6 --- /dev/null +++ b/N032/stretch3/dr_on/seed_2065/rec/stationpuzzlestretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:14e330d9767a1ca2a7b88a8481848ba2985376adfaa654e3782262ba8c909d35 +size 4642282 diff --git a/N032/stretch3/dr_on/seed_2065/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes.jsonl b/N032/stretch3/dr_on/seed_2065/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2fcb9ef4d94ebf57c4070a2630a9276c080d78e2 --- /dev/null +++ b/N032/stretch3/dr_on/seed_2065/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap."], "length": 2821, "magicsim/control_steps": 5642, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a medium gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is in front of the cand O. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is to the right of the gray board 1. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is behind the gray table B. The scene is viewed from front, slightly above table height."} diff --git a/N032/stretch3/dr_on/seed_2065/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/stretch3/dr_on/seed_2065/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..796fca54764fade51751b7edd9228c49200c4158 --- /dev/null +++ b/N032/stretch3/dr_on/seed_2065/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.08373636522920302, 0.0, 0.021636512993152515, 0.5009810259695786, 0.6559076157617404, 0.7156403564426418, -0.358297171164271, -0.003165201154649487, -0.059219221937173, -0.22275914772631894, 0.3966678482807515], "std": [0.15055686520122075, 0.0, 0.26104070814453934, 1.195847486470647, 1.5080171347948501, 0.1450404307360424, 0.4909369923083337, 0.35636732448081815, 0.3415473555580823, 0.5777655396152088, 0.4892059550139065], 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at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a medium gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is in front of the cand O. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is to the right of the gray board 1. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is behind the gray table B. The scene is viewed from front, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[cand O]e]\n\n\n\n [picture cap]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationPuzzleStretch", + "instruction": "Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.", + "template_id": -1, + "slots": { + "obj": 3.0466537139259975, + "support": null + }, + "generic_instruction": "Stationpuzzlestretch the 3.0466537139259975.", + "task_id": "N032", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": {} + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N032/stretch3/dr_on/seed_2065/rec/stationpuzzlestretch/000/lerobot_v21/meta/info.json b/N032/stretch3/dr_on/seed_2065/rec/stationpuzzlestretch/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..0fc18d16d775265951d86076f6804a52c3752d3b --- /dev/null +++ b/N032/stretch3/dr_on/seed_2065/rec/stationpuzzlestretch/000/lerobot_v21/meta/info.json @@ -0,0 +1,333 @@ +{ + "codebase_version": "v2.1", + "robot_type": "HelloRobotCfg", + "total_episodes": 1, + "total_frames": 2821, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "arm_action_0", + "arm_action_1", + "arm_action_2", + 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"video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N032/stretch3/dr_on/seed_2065/rec/stationpuzzlestretch/000/lerobot_v21/meta/magicsim_manifest.json b/N032/stretch3/dr_on/seed_2065/rec/stationpuzzlestretch/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..c1617416596cb119246ba8b797131757a64fcaee --- /dev/null +++ b/N032/stretch3/dr_on/seed_2065/rec/stationpuzzlestretch/000/lerobot_v21/meta/magicsim_manifest.json @@ 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], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/HelloRobot/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/joint_effort:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_pos:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_vel:(1, 15):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1496.2, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 53.5 + } +} diff --git a/N033/sawyer_umi/dr_off/seed_1052/check.json b/N033/sawyer_umi/dr_off/seed_1052/check.json new file mode 100644 index 0000000000000000000000000000000000000000..8db66c7a7d0d2910e6d29b83f7a0cc6a0f84c805 --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1052/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2135 rows vs ceil(4269/2) = 2135" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4369, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "26.00 MB, 2135 frames at 25 fps, mean luma 99..150, std 26, new picture 2134x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2135 vs 2135" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "37.67 MB, 2135 frames at 25 fps, mean luma 106..150, std 21, new picture 2134x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2135 vs 2135" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationringxr/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N033/sawyer_umi/dr_off/seed_1052/check.txt b/N033/sawyer_umi/dr_off/seed_1052/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..6a286bfd3431cf35fd34f64ce9428f2db8874afb --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1052/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_saw_off_1052/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_saw_off_1052/out/rec/stationringxr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2135 videos 2 robot_type RidgebackSawyerUmiCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 2135 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.' +rows 2135 at dataset fps 25 = 85.40 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2135 rows vs ceil(4269/2) = 2135 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4369, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 26.00 MB, 2135 frames at 25 fps, mean luma 99..150, std 26, new picture 2134x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2135 vs 2135 +[PASS] video observation.images.wrist decodes, 640x480, not black: 37.67 MB, 2135 frames at 25 fps, mean luma 106..150, std 21, new picture 2134x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2135 vs 2135 +parquet size 2.48 MB +[PASS] sim_info present: rec/stationringxr/000/sim_info +dataset size 66.35 MB; whole cell dir 67.6 MB +RESULT: ALL PASS diff --git a/N033/sawyer_umi/dr_off/seed_1052/rec/stationringxr/000/completed/0.json b/N033/sawyer_umi/dr_off/seed_1052/rec/stationringxr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..91a50a443cc1602752f4a6179432b21f7f41bb42 --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1052/rec/stationringxr/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationringxr/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N033/sawyer_umi/dr_off/seed_1052/rec/stationringxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/sawyer_umi/dr_off/seed_1052/rec/stationringxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..db78da2b832863ef7328cf01983c42a5eea06cdd --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1052/rec/stationringxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:88c5fd7633657b80d00a292242e6db3f315aa569d64be4fd304474a901fa2df4 +size 2483547 diff --git a/N033/sawyer_umi/dr_off/seed_1052/rec/stationringxr/000/lerobot_v21/meta/episodes.jsonl b/N033/sawyer_umi/dr_off/seed_1052/rec/stationringxr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9f821ef36d4f0beb25229ef20025d12509c26de8 --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1052/rec/stationringxr/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end."], "length": 2135, "magicsim/control_steps": 4269, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the ring. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is to the right of the brown rod stop. The brown rack back is in front of the gray peg 2. The gray peg 1 is on top of the ring. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is to the right of the brown rod stop. The brown rod stop is to the left of the white rod s. The scene is viewed from front, at table height."} diff --git a/N033/sawyer_umi/dr_off/seed_1052/rec/stationringxr/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/sawyer_umi/dr_off/seed_1052/rec/stationringxr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c1393b64cb3e2334ac2bf4af61034c95ea9fac2e --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1052/rec/stationringxr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.08530789279320061, -0.001039405680093609, 0.00977546310014652, 0.6199044784910506, 0.769130871325908, 1.0551881948455435, -0.2279345291001456, -0.07075618907098497, -0.24267629934627502, 0.18806179517943994, 0.4304449648711944], "std": [0.12099220908092694, 0.0091955512558035, 0.1421243067106258, 1.2987421928790939, 1.4872086301454521, 0.21076065566011812, 0.6145251290228687, 0.10801593979500353, 0.5360236479754711, 0.4149100211946041, 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0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the ring. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is to the right of the brown rod stop. The brown rack back is in front of the gray peg 2. The gray peg 1 is on top of the ring. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is to the right of the brown rod stop. The brown rod stop is to the left of the white rod s. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[rod stop]\n\n\n\n [ring small]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationRingXR", + "instruction": "Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.", + "template_id": -1, + "slots": { + "obj": 1.6137278506028614, + "support": null + }, + "generic_instruction": "Stationringxr the 1.6137278506028614.", + "task_id": "N033", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": {} + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N033/sawyer_umi/dr_off/seed_1052/rec/stationringxr/000/lerobot_v21/meta/info.json 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"head": { + "link": "Robot_0/head", + "pos": [ + 0.2166, + 0.0, + -0.045 + ], + "ori": [ + -0.0, + 35.0, + -90.0 + ], + "focal_length": 2.0, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7 + }, + "wrist": { + "link": "Robot_0/right_electric_gripper_base", + "pos": [ + 0.0598, + 0.0, + 0.03 + ], + "ori": [ + 180.0, + 0.0, + -90.0 + ], + "focal_length": 1.8, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/RidgebackSawyerUmi/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_heading_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relatvie_pos_arm_base:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_effort:(1, 13):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_pos:(1, 13):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_vel:(1, 13):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1194.7, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 31.0 + } +} diff --git a/N033/stretch3/dr_off/seed_1061/check.json b/N033/stretch3/dr_off/seed_1061/check.json new file mode 100644 index 0000000000000000000000000000000000000000..68831c21d357bdd29649aa1f67ce674bd71aac7f --- /dev/null +++ b/N033/stretch3/dr_off/seed_1061/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2062 rows vs ceil(4124/2) = 2062" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4223, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "20.18 MB, 2062 frames at 25 fps, mean luma 111..155, std 12, new picture 2061x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2062 vs 2062" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "42.00 MB, 2062 frames at 25 fps, mean luma 116..158, std 28, new picture 2061x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2062 vs 2062" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationringstretch/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N033/stretch3/dr_off/seed_1061/check.txt b/N033/stretch3/dr_off/seed_1061/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..01da82f22e33c5f3392a5e8a32c44d3f8704c323 --- /dev/null +++ b/N033/stretch3/dr_off/seed_1061/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_str_off_1061_r1/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_str_off_1061_r1/out/rec/stationringstretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2062 videos 2 robot_type HelloRobotCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 2062 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.' +rows 2062 at dataset fps 25 = 82.48 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2062 rows vs ceil(4124/2) = 2062 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4223, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 20.18 MB, 2062 frames at 25 fps, mean luma 111..155, std 12, new picture 2061x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2062 vs 2062 +[PASS] video observation.images.wrist decodes, 640x480, not black: 42.00 MB, 2062 frames at 25 fps, mean luma 116..158, std 28, new picture 2061x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2062 vs 2062 +parquet size 3.11 MB +[PASS] sim_info present: rec/stationringstretch/000/sim_info +dataset size 65.50 MB; whole cell dir 66.9 MB +RESULT: ALL PASS diff --git a/N033/stretch3/dr_off/seed_1061/rec/stationringstretch/000/completed/0.json b/N033/stretch3/dr_off/seed_1061/rec/stationringstretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..fd3e4ff594cda366fc3a512d000e9a5e190a83f8 --- /dev/null +++ b/N033/stretch3/dr_off/seed_1061/rec/stationringstretch/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationringstretch/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git 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b/N033/stretch3/dr_off/seed_1061/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end."], "length": 2062, "magicsim/control_steps": 4124, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the ring. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table A is in front of the brown rack back. The gray table B is to the right of the brown rod stop. The brown rack back is to the left of the gray peg 1. The gray peg 1 is on top of the ring. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is to the right of the brown rod stop. The brown rod stop is to the left of the white rod s. The scene is viewed from front, slightly above table height."} diff --git a/N033/stretch3/dr_off/seed_1061/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/stretch3/dr_off/seed_1061/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4b618481da336f8c5809a85d2767dfb41e6c2134 --- /dev/null +++ b/N033/stretch3/dr_off/seed_1061/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [-0.005761576978133848, 0.0, 0.032266489442828124, 0.3368387188469751, 0.8186556065652003, 0.7399542183984725, -0.22313521516384627, 0.10058543273165954, 0.004281453656847586, -0.13724933748578816, 0.40979631425800195], "std": [0.1598104139511041, 0.0, 0.1940745821519104, 1.156451822667149, 1.741429665862215, 0.10103049086909117, 0.5995745387373476, 0.33361142389718984, 0.4410782402872189, 0.5058668124031149, 0.4917959892867786], 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"object": "rod_stop_1" + }, + { + "subject": "rod_s_1", + "relation": "right_of", + "object": "rod_stop_1" + }, + { + "subject": "rod_stop_1", + "relation": "left_of", + "object": "rod_s_1" + } + ], + "cameras": [ + { + "name": "head", + "intrinsics": { + "K": [ + [ + 811.3606627541883, + 0.0, + 320.0 + ], + [ + 0.0, + 811.3606388722814, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 43.048473468183616, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 4.033290897689964, + 0.8922187908112358, + 1.2357226244601525 + ], + "viewpoint": "front, slightly above table height", + "extrinsics": { + "R": [ + [ + -5.56468016110756e-08, + -0.9999999999938459, + -3.5078881838734866e-06 + ], + [ + 0.5646357088821415, + -2.9266214562895243e-06, + 0.825340242716055 + ], + [ + -0.825340242721242, + -1.9347513867118415e-06, + 0.5646357088788294 + ] + ], + "t": [ + -0.0029374520292166934, + -1.0975147957833271, + -0.6905334495545234 + ] + } + }, + { + "name": "wrist", + "intrinsics": { + "K": [ + [ + 426.91786449658065, + 0.0, + 320.0 + ], + [ + 0.0, + 426.9178503597538, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 73.70742419505024, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 4.0197850568649836, + 0.9685088574727129, + -0.0036023360012473167 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + -0.9999999999940066, + 3.409534356899787e-06, + 6.01063709654693e-07 + ], + [ + 3.46210948901734e-06, + 0.9848141327789798, + 0.1736119922897026 + ], + [ + 1.651305908443882e-14, + 0.1736119922907431, + -0.9848141327848816 + ] + ], + "t": [ + 0.008999751121030937, + -0.07177462016445776, + 0.044614582297616646 + ] + } + } + ], + "robots": [ + { + "name": "HelloRobot", + "model": "hellorobot", + "type": "mobilemanip", + "noun": "Hello Robot Stretch 3 mobile manipulator", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.4, + -2.2, + 0.06 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the ring. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table A is in front of the brown rack back. The gray table B is to the right of the brown rod stop. The brown rack back is to the left of the gray peg 1. The gray peg 1 is on top of the ring. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is to the right of the brown rod stop. The brown rod stop is to the left of the white rod s. The scene is viewed from front, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[rod stop]\n\n\n\n [ring small]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationRingStretch", + "instruction": "Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.", + "template_id": -1, + "slots": { + "obj": 3.15570375822573, + "support": null + }, + "generic_instruction": "Stationringstretch the 3.15570375822573.", + "task_id": "N033", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": {} + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N033/stretch3/dr_off/seed_1061/rec/stationringstretch/000/lerobot_v21/meta/info.json b/N033/stretch3/dr_off/seed_1061/rec/stationringstretch/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..013b8565b55b97d4449f91736e9b230710172d69 --- /dev/null +++ b/N033/stretch3/dr_off/seed_1061/rec/stationringstretch/000/lerobot_v21/meta/info.json @@ -0,0 +1,319 @@ +{ + "codebase_version": "v2.1", + "robot_type": "HelloRobotCfg", + "total_episodes": 1, + "total_frames": 2062, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "arm_action_0", + "arm_action_1", + "arm_action_2", + "arm_action_3", + "arm_action_4", + "arm_action_5", + "arm_action_6", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 11 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 15 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 15 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 70 + ], + "names": [ + "object_pose.peg_1.0", + "object_pose.peg_1.1", + "object_pose.peg_1.2", + "object_pose.peg_1.3", + "object_pose.peg_1.4", + "object_pose.peg_1.5", + "object_pose.peg_1.6", + "object_pose.peg_2.0", + "object_pose.peg_2.1", + "object_pose.peg_2.2", + "object_pose.peg_2.3", + "object_pose.peg_2.4", + "object_pose.peg_2.5", + "object_pose.peg_2.6", + "object_pose.rack_back.0", + "object_pose.rack_back.1", + "object_pose.rack_back.2", + "object_pose.rack_back.3", + "object_pose.rack_back.4", + "object_pose.rack_back.5", + "object_pose.rack_back.6", + "object_pose.ring.0", + "object_pose.ring.1", + "object_pose.ring.2", + "object_pose.ring.3", + "object_pose.ring.4", + "object_pose.ring.5", + "object_pose.ring.6", + "object_pose.ring_small.0", + "object_pose.ring_small.1", + "object_pose.ring_small.2", + "object_pose.ring_small.3", + "object_pose.ring_small.4", + "object_pose.ring_small.5", + "object_pose.ring_small.6", + "object_pose.rod_h.0", + "object_pose.rod_h.1", + "object_pose.rod_h.2", + "object_pose.rod_h.3", + "object_pose.rod_h.4", + "object_pose.rod_h.5", + "object_pose.rod_h.6", + "object_pose.rod_s.0", + "object_pose.rod_s.1", + "object_pose.rod_s.2", + "object_pose.rod_s.3", + "object_pose.rod_s.4", + "object_pose.rod_s.5", + "object_pose.rod_s.6", + "object_pose.rod_stop.0", + "object_pose.rod_stop.1", + "object_pose.rod_stop.2", + "object_pose.rod_stop.3", + "object_pose.rod_stop.4", + "object_pose.rod_stop.5", + "object_pose.rod_stop.6", + "object_pose.table_A.0", + "object_pose.table_A.1", + "object_pose.table_A.2", + "object_pose.table_A.3", + "object_pose.table_A.4", + "object_pose.table_A.5", + "object_pose.table_A.6", + "object_pose.table_B.0", + "object_pose.table_B.1", + "object_pose.table_B.2", + "object_pose.table_B.3", + "object_pose.table_B.4", + "object_pose.table_B.5", + "object_pose.table_B.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 880 + ], + "names": null + }, + "action.applied": { + "dtype": "float32", + "shape": [ + 13 + ], + "names": null + }, + "narration": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "collect_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "extra.reward": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "extra.action_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "sim_step_idx": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + 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"video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N033/stretch3/dr_off/seed_1061/rec/stationringstretch/000/lerobot_v21/meta/magicsim_manifest.json b/N033/stretch3/dr_off/seed_1061/rec/stationringstretch/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..0b6ff284b4a9b15de1867b10461dc256eedf24a0 --- /dev/null +++ b/N033/stretch3/dr_off/seed_1061/rec/stationringstretch/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 10:48:06" + }, + "embodiment": { + "robots": [ + { + "name": "HelloRobot", + "cfg": "HelloRobotCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "HelloRobot.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HelloRobotBaseAction", + "names_source": "_joint_names" + }, + { + "name": "HelloRobot.arm_action", + "start": 3, + "end": 10, + "names": [ + "arm_action_0", + "arm_action_1", + "arm_action_2", + "arm_action_3", + "arm_action_4", + "arm_action_5", + "arm_action_6" + ], + "source": "HelloRobotIKAction", + "names_source": "fallback" + }, + { + "name": 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"pos": [ + 0.049771, + -0.002942, + 1.295723 + ], + "ori": [ + 0.0002, + -55.623, + -90.0 + ], + "focal_length": 2.73834228515625, + "horizontal_aperture": 2.1600000858306885, + "vertical_aperture": 1.62 + }, + "wrist": { + "link": "Robot_0/link_gripper_s3_body", + "pos": [ + 0.009, + 0.062939, + 0.056398 + ], + "ori": [ + -170.0021, + 0.0, + -179.9998 + ], + "focal_length": 1.280753493309021, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.44 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/HelloRobot/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/joint_effort:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_pos:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_vel:(1, 15):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1096.4, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 31.9 + } +} diff --git a/N033/stretch3/dr_on/seed_2072/check.json b/N033/stretch3/dr_on/seed_2072/check.json new file mode 100644 index 0000000000000000000000000000000000000000..f6962e15a8d8e315d8dfb5eea56092d47075ad8b --- /dev/null +++ b/N033/stretch3/dr_on/seed_2072/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2121 rows vs ceil(4242/2) = 2121" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4341, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "53.18 MB, 2121 frames at 25 fps, mean luma 117..165, std 16, new picture 2120x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2121 vs 2121" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "35.51 MB, 2121 frames at 25 fps, mean luma 111..155, std 29, new picture 2120x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2121 vs 2121" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationringstretch/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N033/stretch3/dr_on/seed_2072/check.txt b/N033/stretch3/dr_on/seed_2072/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..f83d86492c0157639da87014dbf5a0b1cbf367db --- /dev/null +++ b/N033/stretch3/dr_on/seed_2072/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_str_on_2072/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_str_on_2072/out/rec/stationringstretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2121 videos 2 robot_type HelloRobotCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 2121 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.' +rows 2121 at dataset fps 25 = 84.84 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2121 rows vs ceil(4242/2) = 2121 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4341, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 53.18 MB, 2121 frames at 25 fps, mean luma 117..165, std 16, new picture 2120x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2121 vs 2121 +[PASS] video observation.images.wrist decodes, 640x480, not black: 35.51 MB, 2121 frames at 25 fps, mean luma 111..155, std 29, new picture 2120x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2121 vs 2121 +parquet size 3.12 MB +[PASS] sim_info present: rec/stationringstretch/000/sim_info +dataset size 92.04 MB; whole cell dir 93.5 MB +RESULT: ALL PASS diff --git a/N033/stretch3/dr_on/seed_2072/rec/stationringstretch/000/completed/0.json b/N033/stretch3/dr_on/seed_2072/rec/stationringstretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..fd3e4ff594cda366fc3a512d000e9a5e190a83f8 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2072/rec/stationringstretch/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationringstretch/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N033/stretch3/dr_on/seed_2072/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/stretch3/dr_on/seed_2072/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..3b26d68a8fc45f33d1e729717ad28c5ebe491760 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2072/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:754b38b7c2cf289ecd07375652b249137ebc17abbe624579730fcd6b8546c7f9 +size 3123822 diff --git a/N033/stretch3/dr_on/seed_2072/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl b/N033/stretch3/dr_on/seed_2072/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..92d65c9d90f6c384669cb32dc65b47ce81ac9857 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2072/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end."], "length": 2121, "magicsim/control_steps": 4242, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the brown rod stop. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is to the right of the brown rod stop. The brown rack back is in front of the gray peg 2. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is to the right of the brown rod stop. The brown rod stop is to the left of the white rod s. The scene is viewed from front, slightly above table height."} diff --git a/N033/stretch3/dr_on/seed_2072/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/stretch3/dr_on/seed_2072/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7d3d34a2fa05371ad6b0214c6747fc444d99c349 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2072/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [-0.01162703535293406, 0.0, 0.029274847934998217, 0.43913107278253155, 0.9758679254620719, 0.7422220456830627, -0.27169061566578756, -0.007449475317220686, -0.06019578127630296, -0.031114036423706998, 0.4332861857614333], "std": [0.15781777035866143, 0.0, 0.18559842438677496, 1.20925881350791, 1.8120852890570767, 0.10127157782057765, 0.5631035827510315, 0.3588745454591153, 0.4437286211246482, 0.5279822976956984, 0.49552927964928983], 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rod stop. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is to the right of the brown rod stop. The brown rack back is in front of the gray peg 2. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is to the right of the brown rod stop. The brown rod stop is to the left of the white rod s. The scene is viewed from front, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[rod stop]\n\n\n\n [ring small]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationRingStretch", + "instruction": "Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.", + "template_id": -1, + "slots": { + "obj": 3.12187800201227, + "support": null + }, + "generic_instruction": "Stationringstretch the 3.12187800201227.", + "task_id": "N033", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": {} + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N033/stretch3/dr_on/seed_2072/rec/stationringstretch/000/lerobot_v21/meta/info.json 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shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2110 rows vs ceil(4219/2) = 2110" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4319, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "56.93 MB, 2110 frames at 25 fps, mean luma 129..163, std 23, new picture 2109x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2110 vs 2110" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "57.86 MB, 2110 frames at 25 fps, mean luma 94..157, std 36, new picture 2109x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2110 vs 2110" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationringstretch/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N033/stretch3/dr_on/seed_2073/check.txt b/N033/stretch3/dr_on/seed_2073/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..1f12dd604c2c0950842a38f8712c44027ec33c4d --- /dev/null +++ b/N033/stretch3/dr_on/seed_2073/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_str_on_2073/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_str_on_2073/out/rec/stationringstretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2110 videos 2 robot_type HelloRobotCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 2110 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.' +rows 2110 at dataset fps 25 = 84.40 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2110 rows vs ceil(4219/2) = 2110 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4319, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 56.93 MB, 2110 frames at 25 fps, mean luma 129..163, std 23, new picture 2109x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2110 vs 2110 +[PASS] video observation.images.wrist decodes, 640x480, not black: 57.86 MB, 2110 frames at 25 fps, mean luma 94..157, std 36, new picture 2109x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2110 vs 2110 +parquet size 3.19 MB +[PASS] sim_info present: rec/stationringstretch/000/sim_info +dataset size 118.19 MB; whole cell dir 119.6 MB +RESULT: ALL PASS diff --git a/N033/stretch3/dr_on/seed_2073/rec/stationringstretch/000/completed/0.json b/N033/stretch3/dr_on/seed_2073/rec/stationringstretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..fd3e4ff594cda366fc3a512d000e9a5e190a83f8 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2073/rec/stationringstretch/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationringstretch/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N033/stretch3/dr_on/seed_2073/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/stretch3/dr_on/seed_2073/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..307842e91d8cb0f7ff99e25a927337e1e88175e3 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2073/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd9b3bd043d2bc0cf8d996723b52ec90038df877d8dada455e4c886d948d3384 +size 3187979 diff --git a/N033/stretch3/dr_on/seed_2073/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl b/N033/stretch3/dr_on/seed_2073/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4008ea67259e057a256a47570e8fe43eed36e24a --- /dev/null +++ b/N033/stretch3/dr_on/seed_2073/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end."], "length": 2110, "magicsim/control_steps": 4219, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the brown rod stop. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is to the right of the brown rod stop. The brown rack back is to the left of the gray peg 1. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is to the right of the brown rod stop. The brown rod stop is to the left of the white rod s. The scene is viewed from front, slightly above table height."} diff --git a/N033/stretch3/dr_on/seed_2073/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/stretch3/dr_on/seed_2073/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c4dd6d0012254b7f2ef494ecc825a0d8bef5cd8f --- /dev/null +++ b/N033/stretch3/dr_on/seed_2073/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [-0.004366891269717736, 0.0, 0.031211388953497978, 0.49794951029015944, 0.7440183104320442, 0.7394890091148033, -0.22664238026904127, 0.09219768037245875, 0.003561534158087377, -0.11960831234023037, 0.4109004739336493], "std": [0.16161395243206025, 0.0, 0.19428305095555168, 1.3774119985463216, 1.6979807573550287, 0.10144190525456695, 0.6058538370474427, 0.32851148776915534, 0.44643163373271194, 0.5015316484572858, 0.49199723012914265], 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There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is to the right of the brown rod stop. The brown rack back is to the left of the gray peg 1. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is to the right of the brown rod stop. The brown rod stop is to the left of the white rod s. The scene is viewed from front, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[rod stop]\n\n\n\n [ring small]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationRingStretch", + "instruction": "Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.", + "template_id": -1, + "slots": { + "obj": 3.1703197767309357, + "support": null + }, + "generic_instruction": "Stationringstretch the 3.1703197767309357.", + "task_id": "N033", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": {} + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N033/stretch3/dr_on/seed_2073/rec/stationringstretch/000/lerobot_v21/meta/info.json 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640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/HelloRobot/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/joint_effort:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_pos:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_vel:(1, 15):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1151.6, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 58.0 + } +} diff --git a/N034/go2_arm/dr_off/seed_1065/check.json b/N034/go2_arm/dr_off/seed_1065/check.json new file mode 100644 index 0000000000000000000000000000000000000000..0e0320897297162fd0bfa42cda3ee98fc44bf12b --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1065/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1836 rows vs ceil(3672/2) = 1836" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..3771, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "18.42 MB, 1836 frames at 25 fps, mean luma 97..140, std 21, new picture 1835x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1836 vs 1836" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "30.54 MB, 1836 frames at 25 fps, mean luma 90..165, std 26, new picture 1835x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1836 vs 1836" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationbookend/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_off/seed_1065/check.txt b/N034/go2_arm/dr_off/seed_1065/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..d493ab521e2ca85dbdf4e5dfb6cb43d1b9019602 --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1065/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_go2_off_1065/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_go2_off_1065/out/rec/stationbookend/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1836 videos 2 robot_type Go2PlusCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 1836 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.' +rows 1836 at dataset fps 25 = 73.44 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1836 rows vs ceil(3672/2) = 1836 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..3771, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 18.42 MB, 1836 frames at 25 fps, mean luma 97..140, std 21, new picture 1835x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1836 vs 1836 +[PASS] video observation.images.wrist decodes, 640x480, not black: 30.54 MB, 1836 frames at 25 fps, mean luma 90..165, std 26, new picture 1835x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1836 vs 1836 +parquet size 6.30 MB +[PASS] sim_info present: rec/stationbookend/000/sim_info +dataset size 55.52 MB; whole cell dir 57.2 MB +RESULT: ALL PASS diff --git a/N034/go2_arm/dr_off/seed_1065/rec/stationbookend/000/completed/0.json b/N034/go2_arm/dr_off/seed_1065/rec/stationbookend/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..92774b53003e83bf90b8dbc14d938d81cff5769c --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1065/rec/stationbookend/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationbookend/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N034/go2_arm/dr_off/seed_1065/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/go2_arm/dr_off/seed_1065/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..022ddbfe7241c8cb765e45e2bc3b6deea782ba54 --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1065/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b11b274d050efa7ed8881ac954689a23f235553e1e10ae1e6b82982ceb1ba1e9 +size 6300469 diff --git a/N034/go2_arm/dr_off/seed_1065/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl b/N034/go2_arm/dr_off/seed_1065/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a6995bc387db1f6af1a0df9578f1c9211d3b32e5 --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1065/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 1836, "magicsim/control_steps": 3672, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown slot right. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot right. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height."} diff --git a/N034/go2_arm/dr_off/seed_1065/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/go2_arm/dr_off/seed_1065/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b235a773230aadd55440f9635d0aca6a62f7cd8f --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1065/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.10532025462178786, 0.00021284252094725767, 0.02119895443244186, 0.32338701079808546, 0.7821524511608813, 1.1165536014375343, 0.6489343818009289, 0.08813126263960647, -0.47999725256658976, 0.8157890780883676, 0.06472654158108987, 0.6824618736383442], "std": [0.13527965023081706, 0.02137190843351942, 0.21959830713304318, 0.03216372927844645, 1.292346530423484, 1.669451370668849, 0.06047377414911389, 0.040102056001022075, 0.27126405906117146, 0.1261112712785624, 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+ "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown slot right. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot right. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[[[bookend]\n\n\n\n [s[book]ght]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationBookend", + "instruction": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.", + "template_id": -1, + "slots": { + "obj": 1.6196204076334288, + "support": null + }, + "generic_instruction": "Stationbookend the 1.6196204076334288.", + "task_id": "N034", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0532": { + "frame_idx": 532, + "caption": "Computing a grasp pose for the small red book; the right gripper is below and to the left of and in front of the red book.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0571": { + "frame_idx": 571, + "caption": "Working on the small red book; the right gripper is below and to the left of and in front of the red book.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0879": { + "frame_idx": 879, + "caption": "Computing a grasp pose for the small red book; the right gripper is below and to the left of and in front of the red book.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0893": { + "frame_idx": 893, + "caption": "Pre-grasping the small red book, servoing the arm toward it; the right gripper is below and to the left of and in front of the red book.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0895": { + "frame_idx": 895, + "caption": "Pre-grasping the small red book, moving the arm toward it; the right gripper is below and to the left of and in front of the red book.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0930": { + "frame_idx": 930, + "caption": "Pre-grasping the small red book, moving the arm toward it; the right gripper is below and to the left of the red book.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_0954": { + "frame_idx": 954, + "caption": "Grasping the small red book, moving the arm in to make contact; the right gripper is below and to the left of the red book.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1016": { + "frame_idx": 1016, + "caption": "Closing the right gripper on the red book; the right gripper is below and to the left of the red book.", + "skill": "Grasp", + "phase": "close_gripper", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1076": { + "frame_idx": 1076, + "caption": "Lifting the red book away with the gripper; the right gripper is below and to the left of the red book.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "ParallelGripper", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1077": { + "frame_idx": 1077, + "caption": "Lifting the red book away with the arm; the right gripper is below and to the left of the red book.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1139": { + "frame_idx": 1139, + "caption": "Done — the small red book is grasped; the right gripper is below and to the left of the red book.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_2922": { + "frame_idx": 2922, + "caption": "Computing a grasp pose for the small bookend; the right gripper is below and to the left of the bookend.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "bookend_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_2957": { + "frame_idx": 2957, + "caption": "Working on the small bookend; the right gripper is below and to the left of the bookend.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "bookend_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_2985": { + "frame_idx": 2985, + "caption": "Working on the small bookend; the right gripper is below the bookend.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": 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"/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32" + ], + "n_success": 1, + "elapsed_s": 3417.9, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 47.2 + } +} diff --git a/N034/go2_arm/dr_on/seed_2073/check.json b/N034/go2_arm/dr_on/seed_2073/check.json new file mode 100644 index 0000000000000000000000000000000000000000..91a0aec93d8fcc4446f4bedd12aa5c63da020c1a --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2073/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2024 rows vs ceil(4048/2) = 2024" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4147, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "37.68 MB, 2024 frames at 25 fps, mean luma 64..96, std 35, new picture 2023x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2024 vs 2024" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "34.82 MB, 2024 frames at 25 fps, mean luma 92..166, std 29, new picture 2023x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2024 vs 2024" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationbookend/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_on/seed_2073/check.txt b/N034/go2_arm/dr_on/seed_2073/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..1410326b7a1f207b4c2c3bab2391a91d6f03e6df --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2073/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_go2_on_2073/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_go2_on_2073/out/rec/stationbookend/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2024 videos 2 robot_type Go2PlusCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 2024 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.' +rows 2024 at dataset fps 25 = 80.96 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2024 rows vs ceil(4048/2) = 2024 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4147, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 37.68 MB, 2024 frames at 25 fps, mean luma 64..96, std 35, new picture 2023x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2024 vs 2024 +[PASS] video observation.images.wrist decodes, 640x480, not black: 34.82 MB, 2024 frames at 25 fps, mean luma 92..166, std 29, new picture 2023x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2024 vs 2024 +parquet size 7.11 MB +[PASS] sim_info present: rec/stationbookend/000/sim_info +dataset size 79.88 MB; whole cell dir 81.8 MB +RESULT: ALL PASS diff --git a/N034/go2_arm/dr_on/seed_2073/rec/stationbookend/000/completed/0.json b/N034/go2_arm/dr_on/seed_2073/rec/stationbookend/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..92774b53003e83bf90b8dbc14d938d81cff5769c --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2073/rec/stationbookend/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationbookend/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N034/go2_arm/dr_on/seed_2073/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/go2_arm/dr_on/seed_2073/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..245695b8b738e87b1689d142a4c69390946e54da --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2073/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71888f9cd3739e7349b9b99aff543776d3932479b3d70c9a44bca921973f2cff +size 7110241 diff --git a/N034/go2_arm/dr_on/seed_2073/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl b/N034/go2_arm/dr_on/seed_2073/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9ebe4232b6b473b8cb2f9cccfaadcf75968ba685 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2073/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 2024, "magicsim/control_steps": 4048, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown slot right. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot left. The gray table B is to the left of the bookend. The red book is on top of the brown slot right. The gray plate is behind the bookend. The bookend is in front of the gray plate. The scene is viewed from front, at table height."} diff --git a/N034/go2_arm/dr_on/seed_2073/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/go2_arm/dr_on/seed_2073/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2b7930ed86864d99ebdb0d00d62b01dd50146bbb --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2073/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.10211438523318339, -0.0014219564609339998, 0.016232399149295616, 0.32348665958748973, 1.012317588560195, 1.2361006113321413, 0.6490878029450362, 0.09295315494168413, -0.45058021241920476, 0.8314614425240298, 0.06376320838154267, 0.6585968379446641], "std": [0.1362326407121642, 0.017156516090432304, 0.21069034044960405, 0.03220366414089428, 1.4646081725265645, 1.7229130481945614, 0.0619421581571758, 0.046793710110951785, 0.2722503953606842, 0.12321255720409667, 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"effects": [], + "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown slot right. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot left. The gray table B is to the left of the bookend. The red book is on top of the brown slot right. The gray plate is behind the bookend. The bookend is in front of the gray plate. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[[[bookend]\n\n\n\n [slot [book]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationBookend", + "instruction": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.", + "template_id": -1, + "slots": { + "obj": 1.5995234499360391, + "support": null + }, + "generic_instruction": "Stationbookend the 1.5995234499360391.", + "task_id": "N034", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0603": { + "frame_idx": 603, + "caption": "Computing a grasp pose for the small red book; the right gripper is below and to the left of and in front of the red book.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0629": { + "frame_idx": 629, + "caption": "Working on the small red book; the right gripper is below and to the left of and in front of the red book.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0913": { + "frame_idx": 913, + "caption": "Computing a grasp pose for the small red book; the right gripper is below and to the left of and in front of the red book.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0927": { + "frame_idx": 927, + "caption": "Pre-grasping the small red book, servoing the arm toward it; the right gripper is below and to the left of and in front of the red book.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0928": { + "frame_idx": 928, + "caption": "Pre-grasping the small red book, moving the arm toward it; the right gripper is below and to the left of and in front of the red book.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0960": { + "frame_idx": 960, + "caption": "Pre-grasping the small red book, moving the arm toward it; the right gripper is below and to the left of the red book.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_0980": { + "frame_idx": 980, + "caption": "Grasping the small red book, moving the arm in to make contact; the right gripper is below and to the left of the red book.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1042": { + "frame_idx": 1042, + "caption": "Closing the right gripper on the red book; the right gripper is below and to the left of the red book.", + "skill": "Grasp", + "phase": "close_gripper", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1102": { + "frame_idx": 1102, + "caption": "Lifting the red book away with the gripper; the right gripper is below and to the left of the red book.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "ParallelGripper", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1103": { + "frame_idx": 1103, + "caption": "Lifting the red book away with the arm; the right gripper is below and to the left of the red book.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1165": { + "frame_idx": 1165, + "caption": "Done — the small red book is grasped; the right gripper is below and to the left of the red book.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_3067": { + "frame_idx": 3067, + "caption": "Computing a grasp pose for the small bookend; the right gripper is below and to the left of the bookend.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "bookend_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_3144": { + "frame_idx": 3144, + "caption": "Working on the small bookend; the right gripper is below and to the left of the bookend.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "bookend_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_3220": { + "frame_idx": 3220, + "caption": "Working on the small bookend; the right gripper is below and to the left of and behind the bookend.", + "skill": "ReachStance", + "phase": "walk", + 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1.4393036365509033 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/Go2Plus/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32", + "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32", + "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1457.3, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 27.9 + } +} diff --git a/N034/sawyer_umi/dr_off/seed_1068/check.json b/N034/sawyer_umi/dr_off/seed_1068/check.json new file mode 100644 index 0000000000000000000000000000000000000000..4f5643ce9e8dc711a21249f18d540b1b1f4e6d37 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1068/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2982 rows vs ceil(5963/2) = 2982" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..6063, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "33.04 MB, 2982 frames at 25 fps, mean luma 93..150, std 31, new picture 2981x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2982 vs 2982" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "51.74 MB, 2982 frames at 25 fps, mean luma 91..150, std 28, new picture 2981x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2982 vs 2982" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationbookendxr/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1068/check.txt b/N034/sawyer_umi/dr_off/seed_1068/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..8fdd33b11d34691d8c614ddbce53af2044393f03 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1068/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_saw_off_1068_r1/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_saw_off_1068_r1/out/rec/stationbookendxr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2982 videos 2 robot_type RidgebackSawyerUmiCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 2982 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z'] +[PASS] task text = MobileBench instruction: task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.' +rows 2982 at dataset fps 25 = 119.28 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2982 rows vs ceil(5963/2) = 2982 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..6063, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 33.04 MB, 2982 frames at 25 fps, mean luma 93..150, std 31, new picture 2981x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2982 vs 2982 +[PASS] video observation.images.wrist decodes, 640x480, not black: 51.74 MB, 2982 frames at 25 fps, mean luma 91..150, std 28, new picture 2981x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2982 vs 2982 +parquet size 2.78 MB +[PASS] sim_info present: rec/stationbookendxr/000/sim_info +dataset size 87.75 MB; whole cell dir 89.2 MB +RESULT: ALL PASS diff --git a/N034/sawyer_umi/dr_off/seed_1068/rec/stationbookendxr/000/completed/0.json b/N034/sawyer_umi/dr_off/seed_1068/rec/stationbookendxr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..2218f14552b5319a4951e60bfd54adf3df3cac5e --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1068/rec/stationbookendxr/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationbookendxr/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1068/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/sawyer_umi/dr_off/seed_1068/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..5a707d8066d284d48f74fc07b9f75d6dcc1b06b8 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1068/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09538fb1db90cd92f6ab58e8407368f3ef9ea7d0b5e6102d8bc06fc144321fb4 +size 2778937 diff --git a/N034/sawyer_umi/dr_off/seed_1068/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl b/N034/sawyer_umi/dr_off/seed_1068/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cd8a0be0270f1ba3a4929730414cdf6b5c0cdce5 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1068/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 2982, "magicsim/control_steps": 5963, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the brown slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height."} diff --git a/N034/sawyer_umi/dr_off/seed_1068/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/sawyer_umi/dr_off/seed_1068/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..003ca87e2ffbb10e8e0953cddfb549a362441cdb --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1068/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.061158638411294604, -0.0012998639204302624, 0.004716436400285614, 0.630835064555038, 1.2024038122813228, 0.9040484492967467, 0.019640976393352983, -0.05229292235304092, 0.02471431230021649, 0.12900171938616506, 0.6250838363514419], "std": [0.11734286685964516, 0.011377490778436132, 0.13587267914956008, 1.2857060618450868, 1.729224746030638, 0.23905732453996076, 0.28929971710338864, 0.6207044773816568, 0.1968418026413102, 0.6869587268634154, 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There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. 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"clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/RidgebackSawyerUmi/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_heading_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relatvie_pos_arm_base:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_effort:(1, 13):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_pos:(1, 13):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_vel:(1, 13):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1198.5, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 32.3 + } +} diff --git a/N034/sawyer_umi/dr_off/seed_1074/check.json b/N034/sawyer_umi/dr_off/seed_1074/check.json new file mode 100644 index 0000000000000000000000000000000000000000..301492cd85156738683f9ec2ca4c81b05c3a6692 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1074/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2780 rows vs ceil(5560/2) = 2780" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5659, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "30.89 MB, 2780 frames at 25 fps, mean luma 78..150, std 31, new picture 2779x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2780 vs 2780" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "48.64 MB, 2780 frames at 25 fps, mean luma 90..152, std 29, new picture 2779x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2780 vs 2780" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationbookendxr/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1074/check.txt b/N034/sawyer_umi/dr_off/seed_1074/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..d7b7b33b67d06b906599494b2d61c5e8a6b425a6 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1074/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_saw_off_1074/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_saw_off_1074/out/rec/stationbookendxr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2780 videos 2 robot_type RidgebackSawyerUmiCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 2780 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z'] +[PASS] task text = MobileBench instruction: task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.' +rows 2780 at dataset fps 25 = 111.20 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2780 rows vs ceil(5560/2) = 2780 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5659, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 30.89 MB, 2780 frames at 25 fps, mean luma 78..150, std 31, new picture 2779x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2780 vs 2780 +[PASS] video observation.images.wrist decodes, 640x480, not black: 48.64 MB, 2780 frames at 25 fps, mean luma 90..152, std 29, new picture 2779x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2780 vs 2780 +parquet size 2.79 MB +[PASS] sim_info present: rec/stationbookendxr/000/sim_info +dataset size 82.51 MB; whole cell dir 83.9 MB +RESULT: ALL PASS diff --git a/N034/sawyer_umi/dr_off/seed_1074/rec/stationbookendxr/000/completed/0.json b/N034/sawyer_umi/dr_off/seed_1074/rec/stationbookendxr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..2218f14552b5319a4951e60bfd54adf3df3cac5e --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1074/rec/stationbookendxr/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationbookendxr/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1074/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/sawyer_umi/dr_off/seed_1074/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..734f9362c2f21511e3a13877ab53342be6e1fdd6 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1074/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a0b5c9357c30df49224760feccf1ff74109c9bfea5bfee9f507579c7adf9c04e +size 2785788 diff --git a/N034/sawyer_umi/dr_off/seed_1074/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl b/N034/sawyer_umi/dr_off/seed_1074/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b2ae59a03fd11c90fbf6563a6d9469de451d8dda --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1074/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 2780, "magicsim/control_steps": 5560, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the brown slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height."} diff --git a/N034/sawyer_umi/dr_off/seed_1074/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/sawyer_umi/dr_off/seed_1074/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b43b11854029c321516700fb1be7178930a5f502 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1074/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.06788719568682981, -0.0012593599917407302, 0.008649453452935697, 0.7408984438710504, 1.1602244958978334, 0.9247420963837946, 0.003957287007919764, -0.13423574189420978, 0.0026474720073168053, 0.2134127163522535, 0.6017985611510791], "std": [0.12235742138463676, 0.007923893625417596, 0.13732606698559596, 1.424761055929295, 1.606880125209959, 0.24656105936952474, 0.2838789662753582, 0.6075485433172417, 0.18191242251005546, 0.6735119421410977, 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0.029999999329447746 + ] + } + } + ], + "robots": [ + { + "name": "RidgebackSawyerUmi", + "model": "ridgebacksawyer_umi", + "type": "mobilemanip", + "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.4, + -2.2, + 0.05 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the brown slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[t[[bookend]\n\n\n\n [slot[book]]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationBookendXR", + "instruction": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.", + "template_id": -1, + "slots": { + "obj": 1.5663435573137687, + "support": null + }, + "generic_instruction": "Stationbookendxr the 1.5663435573137687.", + "task_id": "N034", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": {} + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1074/rec/stationbookendxr/000/lerobot_v21/meta/info.json b/N034/sawyer_umi/dr_off/seed_1074/rec/stationbookendxr/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..8ab5baf54c7107b05c0ed95054a0aa403a6775ca --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1074/rec/stationbookendxr/000/lerobot_v21/meta/info.json @@ -0,0 +1,296 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 2780, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z", + "gripper" + ] 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640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1074/rec/stationbookendxr/000/lerobot_v21/meta/magicsim_manifest.json b/N034/sawyer_umi/dr_off/seed_1074/rec/stationbookendxr/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..2808637fb75f74703195f69018f9679d4628cf7c --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1074/rec/stationbookendxr/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,264 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 10:56:06" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "RidgebackSawyerUmi.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HolonomicAction", + "names_source": "_joint_names" + }, + { + "name": "RidgebackSawyerUmi.arm_action", + "start": 3, + "end": 10, + "names": [ + "frame0.pos_x", + 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"/robot_state[0]/RidgebackSawyerUmi/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relatvie_pos_arm_base:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_effort:(1, 13):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_pos:(1, 13):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_vel:(1, 13):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1306.1, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 40.4 + } +} diff --git a/N034/sawyer_umi/dr_on/seed_2062/check.json b/N034/sawyer_umi/dr_on/seed_2062/check.json new file mode 100644 index 0000000000000000000000000000000000000000..201c55fab278447dcb16e6ea0691a518caade158 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2062/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2918 rows vs ceil(5836/2) = 2918" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5935, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "57.22 MB, 2918 frames at 25 fps, mean luma 71..114, std 35, new picture 2917x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2918 vs 2918" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "51.68 MB, 2918 frames at 25 fps, mean luma 57..128, std 28, new picture 2917x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2918 vs 2918" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationbookendxr/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_on/seed_2062/check.txt b/N034/sawyer_umi/dr_on/seed_2062/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..dae9c95741daef73b8ce069b72dc4b4f9c048b94 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2062/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_saw_on_2062/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_saw_on_2062/out/rec/stationbookendxr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2918 videos 2 robot_type RidgebackSawyerUmiCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 2918 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z'] +[PASS] task text = MobileBench instruction: task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.' +rows 2918 at dataset fps 25 = 116.72 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2918 rows vs ceil(5836/2) = 2918 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5935, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 57.22 MB, 2918 frames at 25 fps, mean luma 71..114, std 35, new picture 2917x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2918 vs 2918 +[PASS] video observation.images.wrist decodes, 640x480, not black: 51.68 MB, 2918 frames at 25 fps, mean luma 57..128, std 28, new picture 2917x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2918 vs 2918 +parquet size 2.63 MB +[PASS] sim_info present: rec/stationbookendxr/000/sim_info +dataset size 111.72 MB; whole cell dir 113.1 MB +RESULT: ALL PASS diff --git a/N034/sawyer_umi/dr_on/seed_2062/rec/stationbookendxr/000/completed/0.json b/N034/sawyer_umi/dr_on/seed_2062/rec/stationbookendxr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..2218f14552b5319a4951e60bfd54adf3df3cac5e --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2062/rec/stationbookendxr/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationbookendxr/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_on/seed_2062/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/sawyer_umi/dr_on/seed_2062/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..8352d53d548a8a66598bc9e5f806d16ad2a0da15 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2062/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bfaa1e5f43ecff888be168e60ba51fadb0208d38e15fb619fd3e55a007208750 +size 2633029 diff --git a/N034/sawyer_umi/dr_on/seed_2062/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl b/N034/sawyer_umi/dr_on/seed_2062/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..85d6ac5c86805e1fa07ff7e3423278399e2b9ad6 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2062/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 2918, "magicsim/control_steps": 5836, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the brown slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height."} diff --git a/N034/sawyer_umi/dr_on/seed_2062/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/sawyer_umi/dr_on/seed_2062/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0263224b7a5b2645dd75894d12732fe955721e93 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2062/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.059247202287167004, -0.0013149867114828641, 0.004495318233735433, 0.711250878620262, 1.2248486048906448, 0.9087843240287877, 0.01852636670353366, -0.12529048173879212, 0.01790975732955745, 0.19820623106953214, 0.6134338588074023], "std": [0.11610793365051664, 0.00837702357433318, 0.13800467035221672, 1.2595654019720324, 1.5135093989330646, 0.2402058114484778, 0.28849649741109096, 0.6104137411776737, 0.1934278027968024, 0.6716420481566904, 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There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [bookend]\n\n\n\n [slot [book]\n\n\n\n[robot]" + }, + "task": { + "task_type": "StationBookendXR", + "instruction": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.", + "template_id": -1, + "slots": { + "obj": 1.5978702784737286, + "support": null + }, + "generic_instruction": "Stationbookendxr the 1.5978702784737286.", + "task_id": "N034", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": {} + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_on/seed_2062/rec/stationbookendxr/000/lerobot_v21/meta/info.json b/N034/sawyer_umi/dr_on/seed_2062/rec/stationbookendxr/000/lerobot_v21/meta/info.json new file 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mode 100644 index 0000000000000000000000000000000000000000..8c8b8758234ab16d7757fc710d89eb8befde4e2a --- /dev/null +++ b/N034/stretch3/dr_off/seed_1180/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "3209 rows vs ceil(6418/2) = 3209" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..6517, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "29.87 MB, 3209 frames at 25 fps, mean luma 116..155, std 12, new picture 3208x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "3209 vs 3209" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "61.62 MB, 3209 frames at 25 fps, mean luma 118..163, std 27, new picture 3208x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "3209 vs 3209" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationbookendstretch/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N034/stretch3/dr_off/seed_1180/check.txt b/N034/stretch3/dr_off/seed_1180/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..75fd26a0b1842041738a2eaafc34586c1e8d7a29 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1180/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_str_off_1180/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_str_off_1180/out/rec/stationbookendstretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 3209 videos 2 robot_type HelloRobotCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 3209 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] +[PASS] task text = MobileBench instruction: task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.' +rows 3209 at dataset fps 25 = 128.36 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3209 rows vs ceil(6418/2) = 3209 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..6517, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 29.87 MB, 3209 frames at 25 fps, mean luma 116..155, std 12, new picture 3208x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 3209 vs 3209 +[PASS] video observation.images.wrist decodes, 640x480, not black: 61.62 MB, 3209 frames at 25 fps, mean luma 118..163, std 27, new picture 3208x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 3209 vs 3209 +parquet size 3.49 MB +[PASS] sim_info present: rec/stationbookendstretch/000/sim_info +dataset size 95.20 MB; whole cell dir 96.9 MB +RESULT: ALL PASS diff --git a/N034/stretch3/dr_off/seed_1180/rec/stationbookendstretch/000/completed/0.json b/N034/stretch3/dr_off/seed_1180/rec/stationbookendstretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..565ef5f65941ce16df1aafe3e0687de9fab4723e --- /dev/null +++ b/N034/stretch3/dr_off/seed_1180/rec/stationbookendstretch/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationbookendstretch/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N034/stretch3/dr_off/seed_1180/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/stretch3/dr_off/seed_1180/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..f915866ac6427b17e5fb15bee329df36a75b149b --- /dev/null +++ b/N034/stretch3/dr_off/seed_1180/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:652805e77205de9c59fc858555d1ccdf77511acc08a0c94b6df8d207ceda92d3 +size 3491887 diff --git a/N034/stretch3/dr_off/seed_1180/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl b/N034/stretch3/dr_off/seed_1180/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..276d9942733d829538780d8eefc4ab06197c9e04 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1180/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 3209, "magicsim/control_steps": 6418, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the brown slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front-right, slightly above table height."} diff --git a/N034/stretch3/dr_off/seed_1180/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/stretch3/dr_off/seed_1180/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3e8f03c393f206ec8fc8854b422930b828250ac4 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1180/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [-0.009360395019584335, 0.0, -0.03178701574596945, 0.9182902675652549, 1.5997687112394896, 0.6169139941781062, -0.394650858120825, 0.050749042975241646, -0.2687497634324181, -0.0645754148857639, 0.717980679339358], "std": [0.12576890895934745, 0.0, 0.15596793300998754, 1.3204976333191547, 1.675754697208284, 0.1982107449167247, 0.4776860498321823, 0.3771463915265347, 0.41980718470780465, 0.46756530608100144, 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"vertical_aperture": 1.62 + }, + "wrist": { + "link": "Robot_0/link_gripper_s3_body", + "pos": [ + 0.009, + 0.062939, + 0.056398 + ], + "ori": [ + -170.0021, + 0.0, + -179.9998 + ], + "focal_length": 1.280753493309021, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.44 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/HelloRobot/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/joint_effort:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_pos:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_vel:(1, 15):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1458.6, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 46.0 + } +} diff --git a/N034/stretch3/dr_off/seed_1181/check.json b/N034/stretch3/dr_off/seed_1181/check.json new file mode 100644 index 0000000000000000000000000000000000000000..1bd385b6863bcb000792a84a539213ee822c8f74 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1181/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "3185 rows vs ceil(6370/2) = 3185" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..6469, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "31.73 MB, 3185 frames at 25 fps, mean luma 114..156, std 11, new picture 3184x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "3185 vs 3185" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "60.36 MB, 3185 frames at 25 fps, mean luma 117..168, std 26, new picture 3184x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "3185 vs 3185" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationbookendstretch/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N034/stretch3/dr_off/seed_1181/check.txt b/N034/stretch3/dr_off/seed_1181/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..b67c7a50df6e5a13ec9d333613d9dec94d91372d --- /dev/null +++ b/N034/stretch3/dr_off/seed_1181/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_str_off_1181/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_str_off_1181/out/rec/stationbookendstretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 3185 videos 2 robot_type HelloRobotCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 3185 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] +[PASS] task text = MobileBench instruction: task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.' +rows 3185 at dataset fps 25 = 127.40 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3185 rows vs ceil(6370/2) = 3185 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..6469, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 31.73 MB, 3185 frames at 25 fps, mean luma 114..156, std 11, new picture 3184x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 3185 vs 3185 +[PASS] video observation.images.wrist decodes, 640x480, not black: 60.36 MB, 3185 frames at 25 fps, mean luma 117..168, std 26, new picture 3184x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 3185 vs 3185 +parquet size 3.58 MB +[PASS] sim_info present: rec/stationbookendstretch/000/sim_info +dataset size 95.88 MB; whole cell dir 97.6 MB +RESULT: ALL PASS diff --git a/N034/stretch3/dr_off/seed_1181/rec/stationbookendstretch/000/completed/0.json b/N034/stretch3/dr_off/seed_1181/rec/stationbookendstretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..565ef5f65941ce16df1aafe3e0687de9fab4723e --- /dev/null +++ b/N034/stretch3/dr_off/seed_1181/rec/stationbookendstretch/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationbookendstretch/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N034/stretch3/dr_off/seed_1181/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/stretch3/dr_off/seed_1181/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..9c1bf4e53ee6b6b69f4d4224153c43adb0e91b57 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1181/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c5431a3bdc9aa936285a092a75a85e05986d6c6e08615298932f0f4dca4196b +size 3575459 diff --git a/N034/stretch3/dr_off/seed_1181/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl b/N034/stretch3/dr_off/seed_1181/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0258f53eb2c90d326687515321aaa46d5a1f838a --- /dev/null +++ b/N034/stretch3/dr_off/seed_1181/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 3185, "magicsim/control_steps": 6370, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the brown slot right. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot right. The gray plate is on top of the bookend. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, slightly above table height."} diff --git a/N034/stretch3/dr_off/seed_1181/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/stretch3/dr_off/seed_1181/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e0c3eae0513b34e8b5de837ca5a5c74573bb158c --- /dev/null +++ b/N034/stretch3/dr_off/seed_1181/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [-0.008944215411188745, 0.0, 0.018659951142510588, 1.1487338968931318, 1.5292626751671594, 0.6133601940408044, -0.38000843084740393, -0.01680852587258998, -0.24886222237490216, -0.01868125942989709, 0.7183673469387755], "std": [0.1275921757361201, 0.0, 0.1749639734913254, 1.282484166853136, 1.7193808133325286, 0.19728165750453855, 0.5049577695336803, 0.3704970756821867, 0.4352211494633982, 0.45974092487064855, 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null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the brown slot right. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot right. The gray plate is on top of the bookend. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[[p[bookend]\n\n\n\n [slot [book]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationBookendStretch", + "instruction": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.", + "template_id": -1, + "slots": { + "obj": 3.122817256916502, + "support": null + }, + "generic_instruction": "Stationbookendstretch the 3.122817256916502.", + "task_id": "N034", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": {} + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N034/stretch3/dr_off/seed_1181/rec/stationbookendstretch/000/lerobot_v21/meta/info.json b/N034/stretch3/dr_off/seed_1181/rec/stationbookendstretch/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..cede638190b4d4a4a1c3070a4049cbbe5488ecc9 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1181/rec/stationbookendstretch/000/lerobot_v21/meta/info.json @@ -0,0 +1,298 @@ +{ + "codebase_version": "v2.1", + "robot_type": "HelloRobotCfg", + "total_episodes": 1, + "total_frames": 3185, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "arm_action_0", + "arm_action_1", + "arm_action_2", + "arm_action_3", + "arm_action_4", + "arm_action_5", + "arm_action_6", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 11 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 15 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 15 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 49 + ], + "names": [ + "object_pose.book.0", + "object_pose.book.1", + "object_pose.book.2", + "object_pose.book.3", + "object_pose.book.4", + "object_pose.book.5", + "object_pose.book.6", + "object_pose.bookend.0", + "object_pose.bookend.1", + "object_pose.bookend.2", + "object_pose.bookend.3", + "object_pose.bookend.4", + "object_pose.bookend.5", + "object_pose.bookend.6", + "object_pose.plate.0", + "object_pose.plate.1", + "object_pose.plate.2", + "object_pose.plate.3", + "object_pose.plate.4", + "object_pose.plate.5", + "object_pose.plate.6", + "object_pose.slot_left.0", + "object_pose.slot_left.1", + "object_pose.slot_left.2", + "object_pose.slot_left.3", + "object_pose.slot_left.4", + "object_pose.slot_left.5", + 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"video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N034/stretch3/dr_off/seed_1181/rec/stationbookendstretch/000/lerobot_v21/meta/magicsim_manifest.json b/N034/stretch3/dr_off/seed_1181/rec/stationbookendstretch/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..3ef4d86de363873853b235af46d01c9deb9be34a --- /dev/null +++ b/N034/stretch3/dr_off/seed_1181/rec/stationbookendstretch/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 10:50:51" + }, + "embodiment": { + "robots": [ + { + "name": "HelloRobot", + "cfg": "HelloRobotCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "HelloRobot.base_action", + "start": 0, + "end": 3, + "names": [ + 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+version https://git-lfs.github.com/spec/v1 +oid sha256:ea74070ae48c5bb43094cb0aa8a5dfe6bc160094ea5f73e708692ece63e1bb23 +size 888010 diff --git a/N034/stretch3/dr_off/seed_1181/rec/stationbookendstretch/000/sim_info/magicsim_manifest.json b/N034/stretch3/dr_off/seed_1181/rec/stationbookendstretch/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..46a246f305426222b4dcb8745ae7db1ea91709f0 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1181/rec/stationbookendstretch/000/sim_info/magicsim_manifest.json @@ -0,0 +1,228 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 10:51:53" + }, + "embodiment": { + "robots": [ + { + "name": "HelloRobot", + "cfg": "HelloRobotCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "HelloRobot.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HelloRobotBaseAction", + "names_source": "_joint_names" + }, + { + "name": "HelloRobot.arm_action", + "start": 3, + "end": 10, + "names": [ + "arm_action_0", + "arm_action_1", + "arm_action_2", + "arm_action_3", + "arm_action_4", + "arm_action_5", + "arm_action_6" + ], + "source": "HelloRobotIKAction", + "names_source": "fallback" + }, + { + "name": "HelloRobot.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "HelloRobot.joint_pos", + "start": 0, + "end": 15, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "joint_vel_layout": { + "dim": 15, + "segments": [ + { + "name": "HelloRobot.joint_vel", + "start": 0, + "end": 15, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + 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"focal_length": 1.280753493309021, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.44 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/HelloRobot/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/joint_effort:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_pos:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_vel:(1, 15):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1381.4, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 68.0 + } +} diff --git a/N034/stretch3/dr_off/seed_1182/check.json b/N034/stretch3/dr_off/seed_1182/check.json new file mode 100644 index 0000000000000000000000000000000000000000..52a79f9f6e8e5b087786042f899e6f5c27d0abb5 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1182/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "3226 rows vs ceil(6451/2) = 3226" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..6551, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "31.39 MB, 3226 frames at 25 fps, mean luma 113..156, std 11, new picture 3225x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "3226 vs 3226" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "61.05 MB, 3226 frames at 25 fps, mean luma 117..165, std 26, new picture 3225x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "3226 vs 3226" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationbookendstretch/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N034/stretch3/dr_off/seed_1182/check.txt b/N034/stretch3/dr_off/seed_1182/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..179d272c8aff699d57ef3702a9677dd0abef18c4 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1182/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_str_off_1182/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_str_off_1182/out/rec/stationbookendstretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 3226 videos 2 robot_type HelloRobotCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 3226 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] +[PASS] task text = MobileBench instruction: task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.' +rows 3226 at dataset fps 25 = 129.04 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3226 rows vs ceil(6451/2) = 3226 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..6551, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 31.39 MB, 3226 frames at 25 fps, mean luma 113..156, std 11, new picture 3225x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 3226 vs 3226 +[PASS] video observation.images.wrist decodes, 640x480, not black: 61.05 MB, 3226 frames at 25 fps, mean luma 117..165, std 26, new picture 3225x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 3226 vs 3226 +parquet size 3.58 MB +[PASS] sim_info present: rec/stationbookendstretch/000/sim_info +dataset size 96.23 MB; whole cell dir 98.0 MB +RESULT: ALL PASS diff --git a/N034/stretch3/dr_off/seed_1182/rec/stationbookendstretch/000/completed/0.json b/N034/stretch3/dr_off/seed_1182/rec/stationbookendstretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..565ef5f65941ce16df1aafe3e0687de9fab4723e --- /dev/null +++ b/N034/stretch3/dr_off/seed_1182/rec/stationbookendstretch/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationbookendstretch/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N034/stretch3/dr_off/seed_1182/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/stretch3/dr_off/seed_1182/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..2c4b7cb8c243742ee85ed9ff46134d49bed56817 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1182/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c2557a1770d2a7f96b2d43c955ed932a3188788f53e7e162a40f4a73465c5680 +size 3582375 diff --git a/N034/stretch3/dr_off/seed_1182/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl b/N034/stretch3/dr_off/seed_1182/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6dfa23f656647b48ee8b7ffb5adbb27cddd89047 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1182/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 3226, "magicsim/control_steps": 6451, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the brown slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot left. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is on top of the bookend. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, slightly above table height."} diff --git a/N034/stretch3/dr_off/seed_1182/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/stretch3/dr_off/seed_1182/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7de476fdeeb1ee7231f1a95b3a23325f85c9491f --- /dev/null +++ b/N034/stretch3/dr_off/seed_1182/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [-0.009297872419045835, 0.0, -0.0316310142353408, 0.9533637680450509, 1.556865688799075, 0.614105924455852, -0.3831071814580463, 0.006986547669418457, -0.2533702918370717, -0.014124415650682596, 0.7135771853688778], "std": [0.1283689981327798, 0.0, 0.1598389906819854, 1.3744210683907065, 1.787248017052891, 0.1963938420255676, 0.4927253520965651, 0.37720836754917403, 0.4321718773478777, 0.4657757924246734, 0.45208935609003537], 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+ "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the brown slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot left. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is on top of the bookend. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [bookend]\n\n\n\n [slot [book]\n [slot left]\n\n\n[robot]" + }, + "task": { + "task_type": "StationBookendStretch", + "instruction": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.", + "template_id": -1, + "slots": { + "obj": 3.18569564169019, + "support": null + }, + "generic_instruction": "Stationbookendstretch the 3.18569564169019.", + "task_id": "N034", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": {} + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N034/stretch3/dr_off/seed_1182/rec/stationbookendstretch/000/lerobot_v21/meta/info.json b/N034/stretch3/dr_off/seed_1182/rec/stationbookendstretch/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..dcf66c8c452b582fc314602d9a7a3a177bb68c38 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1182/rec/stationbookendstretch/000/lerobot_v21/meta/info.json @@ -0,0 +1,298 @@ +{ + "codebase_version": "v2.1", + "robot_type": "HelloRobotCfg", + "total_episodes": 1, + "total_frames": 3226, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "arm_action_0", + "arm_action_1", + "arm_action_2", + "arm_action_3", + "arm_action_4", + "arm_action_5", + "arm_action_6", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 11 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 15 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 15 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 49 + ], + "names": [ + "object_pose.book.0", + "object_pose.book.1", + "object_pose.book.2", + "object_pose.book.3", + "object_pose.book.4", + "object_pose.book.5", + "object_pose.book.6", + "object_pose.bookend.0", + "object_pose.bookend.1", + "object_pose.bookend.2", + "object_pose.bookend.3", + "object_pose.bookend.4", + "object_pose.bookend.5", + "object_pose.bookend.6", + "object_pose.plate.0", + "object_pose.plate.1", + "object_pose.plate.2", + "object_pose.plate.3", + "object_pose.plate.4", + "object_pose.plate.5", + "object_pose.plate.6", + "object_pose.slot_left.0", + "object_pose.slot_left.1", + "object_pose.slot_left.2", + "object_pose.slot_left.3", + "object_pose.slot_left.4", + "object_pose.slot_left.5", + 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"video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N034/stretch3/dr_off/seed_1182/rec/stationbookendstretch/000/lerobot_v21/meta/magicsim_manifest.json b/N034/stretch3/dr_off/seed_1182/rec/stationbookendstretch/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..4265ba66edb3ef373a4266d4dee93941fc9f1b32 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1182/rec/stationbookendstretch/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 10:53:57" + }, + "embodiment": { + "robots": [ + { + "name": "HelloRobot", + "cfg": "HelloRobotCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "HelloRobot.base_action", + "start": 0, + "end": 3, + "names": [ + 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b/N034/stretch3/dr_off/seed_1182/rec/stationbookendstretch/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57b49cbe1b51fd6eeab7403fcd2f9609420c4e8b6a21d78faeca5de4d87218a9 +size 908297 diff --git a/N034/stretch3/dr_off/seed_1182/rec/stationbookendstretch/000/sim_info/magicsim_manifest.json b/N034/stretch3/dr_off/seed_1182/rec/stationbookendstretch/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..d4639c201771a297ecd8ee5d37dce0f2b17414f5 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1182/rec/stationbookendstretch/000/sim_info/magicsim_manifest.json @@ -0,0 +1,228 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 10:54:24" + }, + "embodiment": { + "robots": [ + { + "name": "HelloRobot", + "cfg": "HelloRobotCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "HelloRobot.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HelloRobotBaseAction", + "names_source": "_joint_names" + }, + { + "name": "HelloRobot.arm_action", + "start": 3, + "end": 10, + "names": [ + "arm_action_0", + "arm_action_1", + "arm_action_2", + "arm_action_3", + "arm_action_4", + "arm_action_5", + "arm_action_6" + ], + "source": "HelloRobotIKAction", + "names_source": "fallback" + }, + { + "name": "HelloRobot.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "HelloRobot.joint_pos", + "start": 0, + "end": 15, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "joint_vel_layout": { + "dim": 15, + "segments": [ + { + "name": "HelloRobot.joint_vel", + "start": 0, + "end": 15, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + 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