diff --git a/N053/stretch3/dr_off/seed_1135/rec/check.json b/N053/stretch3/dr_off/seed_1135/rec/check.json index e5722be4c81d76f27ed389c489511ac7db5a7939..ff1a17ed89b4dcc1df8c9dc5fa5592ac2ba3f910 100644 --- a/N053/stretch3/dr_off/seed_1135/rec/check.json +++ b/N053/stretch3/dr_off/seed_1135/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_off/seed_1135/rec/check.txt b/N053/stretch3/dr_off/seed_1135/rec/check.txt index 43e14e557493fc4654a13b9616db9bc7632683c7..eb1de6754e54a994581e65bea6ba8e9633d70967 100644 --- a/N053/stretch3/dr_off/seed_1135/rec/check.txt +++ b/N053/stretch3/dr_off/seed_1135/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_off_1135/out/rec/memorystage/000 --- episode file episode_000000.parquet: 3353 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 3353 at dataset fps 25 = 134.12 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3353 rows vs ceil(6706/2) = 3353 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6765, step differences [2] diff --git a/N053/stretch3/dr_off/seed_1135/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_off/seed_1135/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 91d3d7466b0e6f7d24f4633b284b76bc5af7cee6..586fccef6733a318055e70e56a3224af9bfb34d6 100644 --- a/N053/stretch3/dr_off/seed_1135/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_off/seed_1135/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 3353, "magicsim/control_steps": 6706, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 3353, "magicsim/control_steps": 6706, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."} diff --git a/N053/stretch3/dr_off/seed_1135/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_off/seed_1135/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index c756a5766a48cc30226e0358d6ab635e1cf9e0e5..2ee2332d0bb845f00097615ede8a89a3220fe46b 100644 --- a/N053/stretch3/dr_off/seed_1135/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_off/seed_1135/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_off/seed_1135/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_off/seed_1135/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_off/seed_1135/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_off/seed_1135/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_off/seed_1136/rec/check.json b/N053/stretch3/dr_off/seed_1136/rec/check.json index 653998ef1ac4a195de8dfdf77ea49d0c9aef79e5..94ac1cbe4f58ea0a76ab454214c73aa94174b6a8 100644 --- a/N053/stretch3/dr_off/seed_1136/rec/check.json +++ b/N053/stretch3/dr_off/seed_1136/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_off/seed_1136/rec/check.txt b/N053/stretch3/dr_off/seed_1136/rec/check.txt index c730a6ca149136f8f84fc8567d2177c011882697..985744637c36dab3595019d793c11f96037f656c 100644 --- a/N053/stretch3/dr_off/seed_1136/rec/check.txt +++ b/N053/stretch3/dr_off/seed_1136/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_off_1136/out/rec/memorystage/000 --- episode file episode_000000.parquet: 2278 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 2278 at dataset fps 25 = 91.12 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2278 rows vs ceil(4555/2) = 2278 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4615, step differences [2] diff --git a/N053/stretch3/dr_off/seed_1136/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_off/seed_1136/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 96bfe0c8a1d16f7ae39cd52de7ebb53525f52ee6..2c4b0f76ed34e2ac62ae9946ef2ce6eacab59f00 100644 --- a/N053/stretch3/dr_off/seed_1136/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_off/seed_1136/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2278, "magicsim/control_steps": 4555, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2278, "magicsim/control_steps": 4555, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."} diff --git a/N053/stretch3/dr_off/seed_1136/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_off/seed_1136/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index f29921e1fb0f6b35a9fdcd19e7556f40efb60300..bd22c4eb1275414ff8bc5f988a08aa513e348f29 100644 --- a/N053/stretch3/dr_off/seed_1136/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_off/seed_1136/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_off/seed_1136/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_off/seed_1136/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_off/seed_1136/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_off/seed_1136/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_off/seed_1137/rec/check.json b/N053/stretch3/dr_off/seed_1137/rec/check.json index 705292de490ba72b86e07fc314fc43c61b5933dc..15705b3620bc8ba84e78f4524af4de251ccdfcef 100644 --- a/N053/stretch3/dr_off/seed_1137/rec/check.json +++ b/N053/stretch3/dr_off/seed_1137/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_off/seed_1137/rec/check.txt b/N053/stretch3/dr_off/seed_1137/rec/check.txt index 997c48db697e52872ad25963ca7414214db94abe..ca02d2ea3dc2b3e039dfabd4647d1175a2707db3 100644 --- a/N053/stretch3/dr_off/seed_1137/rec/check.txt +++ b/N053/stretch3/dr_off/seed_1137/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_off_1137/out/rec/memorystage/000 --- episode file episode_000000.parquet: 3458 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 3458 at dataset fps 25 = 138.32 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3458 rows vs ceil(6915/2) = 3458 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6975, step differences [2] diff --git a/N053/stretch3/dr_off/seed_1137/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_off/seed_1137/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 73a49e6a315d0e6b1ded673b9c31bd2aa1f9a3c6..4435b43143fdd6d46b1c2e1106a3e2cfbc425d74 100644 --- a/N053/stretch3/dr_off/seed_1137/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_off/seed_1137/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 3458, "magicsim/control_steps": 6915, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 3458, "magicsim/control_steps": 6915, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_off/seed_1137/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_off/seed_1137/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index f98d6798a422dc05f4e3d4070af799a76e2774c1..2c095fd23485b34e66d5083f780e1ccf43e06686 100644 --- a/N053/stretch3/dr_off/seed_1137/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_off/seed_1137/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_off/seed_1137/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_off/seed_1137/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_off/seed_1137/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_off/seed_1137/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_off/seed_1138/rec/check.json b/N053/stretch3/dr_off/seed_1138/rec/check.json index 699022fca474c58bd9f4d105d6b5c55540f9db7c..f82198d4eba632dfe41d750ed3407393eb06df35 100644 --- a/N053/stretch3/dr_off/seed_1138/rec/check.json +++ b/N053/stretch3/dr_off/seed_1138/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_off/seed_1138/rec/check.txt b/N053/stretch3/dr_off/seed_1138/rec/check.txt index 93e0b3e5dafe3f02cbe6f65f521b1a666ea73565..c95d3f2a8014e068cb49a71026b72785a04d0843 100644 --- a/N053/stretch3/dr_off/seed_1138/rec/check.txt +++ b/N053/stretch3/dr_off/seed_1138/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_off_1138/out/rec/memorystage/000 --- episode file episode_000000.parquet: 2338 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 2338 at dataset fps 25 = 93.52 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2338 rows vs ceil(4675/2) = 2338 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4735, step differences [2] diff --git a/N053/stretch3/dr_off/seed_1138/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_off/seed_1138/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 70a022fc28867b90642ae33ad9200c66f92235ad..fa06729740e85ae151a621f428e08e86df4c8368 100644 --- a/N053/stretch3/dr_off/seed_1138/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_off/seed_1138/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2338, "magicsim/control_steps": 4675, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2338, "magicsim/control_steps": 4675, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_off/seed_1138/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_off/seed_1138/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 2aa4511cb22b6c7c9a28c361e562c11c0222b5cc..93aeb4f9daf11132e75899f1982b7c6466edc63c 100644 --- a/N053/stretch3/dr_off/seed_1138/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_off/seed_1138/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_off/seed_1138/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_off/seed_1138/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_off/seed_1138/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_off/seed_1138/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_off/seed_1139/rec/check.json b/N053/stretch3/dr_off/seed_1139/rec/check.json index 8571b12e28514d7e97f8f7197b90a373720b4943..a41ecdcc8ebd32ffb4ecdff0d7f9397dfc38e65e 100644 --- a/N053/stretch3/dr_off/seed_1139/rec/check.json +++ b/N053/stretch3/dr_off/seed_1139/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_off/seed_1139/rec/check.txt b/N053/stretch3/dr_off/seed_1139/rec/check.txt index 18b1e082d219861f4099e49c871efc424c31f788..b52395c20a54c52e0984e6a3eecfcfcfebfc7b4c 100644 --- a/N053/stretch3/dr_off/seed_1139/rec/check.txt +++ b/N053/stretch3/dr_off/seed_1139/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_off_1139/out/rec/memorystage/000 --- episode file episode_000000.parquet: 2315 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 2315 at dataset fps 25 = 92.60 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2315 rows vs ceil(4630/2) = 2315 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4689, step differences [2] diff --git a/N053/stretch3/dr_off/seed_1139/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_off/seed_1139/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 86934e5293258cfecb0a91d6b9f249b8132c8e31..f8ac818133707bab94a277fa000eea83810723a5 100644 --- a/N053/stretch3/dr_off/seed_1139/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_off/seed_1139/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2315, "magicsim/control_steps": 4630, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2315, "magicsim/control_steps": 4630, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_off/seed_1139/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_off/seed_1139/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 66e31f5bc5992ef9659e1aceb43a6c732fa4e2af..e73281697e51bada40f1f254d34113fe226185b1 100644 --- a/N053/stretch3/dr_off/seed_1139/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_off/seed_1139/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_off/seed_1139/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_off/seed_1139/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_off/seed_1139/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_off/seed_1139/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_off/seed_1140/rec/check.json b/N053/stretch3/dr_off/seed_1140/rec/check.json index a20e599d41d65b21bc3079212ab33a96db10866a..d7703293cba1fbf9176e463d328f4cf0fd5d77d5 100644 --- a/N053/stretch3/dr_off/seed_1140/rec/check.json +++ b/N053/stretch3/dr_off/seed_1140/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_off/seed_1140/rec/check.txt b/N053/stretch3/dr_off/seed_1140/rec/check.txt index 17e84406f8c41fc4f5de5739510f53edb48c420e..82049a11ef3323d9301518372df8f28a7207eb57 100644 --- a/N053/stretch3/dr_off/seed_1140/rec/check.txt +++ b/N053/stretch3/dr_off/seed_1140/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_off_1140/out/rec/memorystage/000 --- episode file episode_000000.parquet: 3123 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 3123 at dataset fps 25 = 124.92 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3123 rows vs ceil(6245/2) = 3123 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6305, step differences [2] diff --git a/N053/stretch3/dr_off/seed_1140/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_off/seed_1140/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 5fb946c73f42be081a6bf4ab27def251288f6934..130c12eed2b0d6779547e38b1e420819a9224323 100644 --- a/N053/stretch3/dr_off/seed_1140/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_off/seed_1140/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 3123, "magicsim/control_steps": 6245, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 3123, "magicsim/control_steps": 6245, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."} diff --git a/N053/stretch3/dr_off/seed_1140/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_off/seed_1140/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 46ea50348d8069081f576197eeadb82de0cdf4ec..dfde3016e9cdfc51c9fdea34d18d9901716bd642 100644 --- a/N053/stretch3/dr_off/seed_1140/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_off/seed_1140/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_off/seed_1140/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_off/seed_1140/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_off/seed_1140/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_off/seed_1140/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_off/seed_1141/rec/check.json b/N053/stretch3/dr_off/seed_1141/rec/check.json index b9b6f696f31b021f8d6ca2582dc9350a70f762dc..fc49b45c2971d2c1dad9c1a9f536f2260f74b198 100644 --- a/N053/stretch3/dr_off/seed_1141/rec/check.json +++ b/N053/stretch3/dr_off/seed_1141/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_off/seed_1141/rec/check.txt b/N053/stretch3/dr_off/seed_1141/rec/check.txt index 4c9a44732dea3a1c4c48d5495f546cfa69ae3cce..e9de283f00902c07b7249ef5e3ccb2fd30d02038 100644 --- a/N053/stretch3/dr_off/seed_1141/rec/check.txt +++ b/N053/stretch3/dr_off/seed_1141/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_off_1141/out/rec/memorystage/000 --- episode file episode_000000.parquet: 3154 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 3154 at dataset fps 25 = 126.16 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3154 rows vs ceil(6308/2) = 3154 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6367, step differences [2] diff --git a/N053/stretch3/dr_off/seed_1141/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_off/seed_1141/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 6df9db0922185133d7ec7ff06a734e02b6c6e02d..dc2efdbc87783891bb23594f524e48bbe4c5c582 100644 --- a/N053/stretch3/dr_off/seed_1141/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_off/seed_1141/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 3154, "magicsim/control_steps": 6308, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 3154, "magicsim/control_steps": 6308, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_off/seed_1141/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_off/seed_1141/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 933705ef641cc688e75c20b78e67d228ace8ae7e..c5f0d2413b9fc515480ba96174f79d9014769144 100644 --- a/N053/stretch3/dr_off/seed_1141/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_off/seed_1141/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_off/seed_1141/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_off/seed_1141/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_off/seed_1141/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_off/seed_1141/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_off/seed_1142/rec/check.json b/N053/stretch3/dr_off/seed_1142/rec/check.json index d26518ec284bc5b23aa539312622741dcb7b6780..82334938785cb955ce5adc88b4c9ae3c91be3dec 100644 --- a/N053/stretch3/dr_off/seed_1142/rec/check.json +++ b/N053/stretch3/dr_off/seed_1142/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_off/seed_1142/rec/check.txt b/N053/stretch3/dr_off/seed_1142/rec/check.txt index c19535edf3a5d4a900459ec0020d2000ea6db6e7..7176596779512211eb39fe7fb43712b209dfb1d3 100644 --- a/N053/stretch3/dr_off/seed_1142/rec/check.txt +++ b/N053/stretch3/dr_off/seed_1142/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_off_1142/out/rec/memorystage/000 --- episode file episode_000000.parquet: 2299 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 2299 at dataset fps 25 = 91.96 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2299 rows vs ceil(4598/2) = 2299 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4657, step differences [2] diff --git a/N053/stretch3/dr_off/seed_1142/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_off/seed_1142/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 4f79a4dcb7d0458d04bf555b57be8c39dbe6e55d..8accd95e3941918120673d78bfcf4da2eb5b7ad9 100644 --- a/N053/stretch3/dr_off/seed_1142/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_off/seed_1142/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2299, "magicsim/control_steps": 4598, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2299, "magicsim/control_steps": 4598, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."} diff --git a/N053/stretch3/dr_off/seed_1142/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_off/seed_1142/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 29afa32de14a6e02b690dd47d179707b1b647a1a..dbb9def92d0b595be44bf2a97ff54a4171746e54 100644 --- a/N053/stretch3/dr_off/seed_1142/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_off/seed_1142/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_off/seed_1142/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_off/seed_1142/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_off/seed_1142/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_off/seed_1142/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_off/seed_1143/rec/check.json b/N053/stretch3/dr_off/seed_1143/rec/check.json index 2487e405cdb0b4f131d5283e0f5bd98979626529..a6aa8d974e66ba7b6fc1b35365dd89053aa202b8 100644 --- a/N053/stretch3/dr_off/seed_1143/rec/check.json +++ b/N053/stretch3/dr_off/seed_1143/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_off/seed_1143/rec/check.txt b/N053/stretch3/dr_off/seed_1143/rec/check.txt index 9d871b59ea6d377c9e4059304b029237eff52d21..fbb54bde5ecc4c2f1d31e717f99a6795663be6ff 100644 --- a/N053/stretch3/dr_off/seed_1143/rec/check.txt +++ b/N053/stretch3/dr_off/seed_1143/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_off_1143/out/rec/memorystage/000 --- episode file episode_000000.parquet: 2313 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 2313 at dataset fps 25 = 92.52 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2313 rows vs ceil(4625/2) = 2313 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4685, step differences [2] diff --git a/N053/stretch3/dr_off/seed_1143/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_off/seed_1143/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index b94639bb7e6caa9e49b4210a38dd1896c99327b6..5ee83de35e89ec3f1cafa8479b90d95bd0d750db 100644 --- a/N053/stretch3/dr_off/seed_1143/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_off/seed_1143/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2313, "magicsim/control_steps": 4625, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2313, "magicsim/control_steps": 4625, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_off/seed_1143/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_off/seed_1143/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index ac7b191f47384062529fde95d5b7e010598c93f4..8429652c77c7bf22147e592624a0f0051a8b9767 100644 --- a/N053/stretch3/dr_off/seed_1143/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_off/seed_1143/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_off/seed_1143/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_off/seed_1143/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_off/seed_1143/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_off/seed_1143/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_off/seed_1144/rec/check.json b/N053/stretch3/dr_off/seed_1144/rec/check.json index 5c7e53de2df846cd8a13a90e0b8f424626a08fe5..ffa812af16ef8b41404dca8f5ac89772967b5582 100644 --- a/N053/stretch3/dr_off/seed_1144/rec/check.json +++ b/N053/stretch3/dr_off/seed_1144/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_off/seed_1144/rec/check.txt b/N053/stretch3/dr_off/seed_1144/rec/check.txt index 0a8e9db4e3cc0fbaa4b9c577034eea8a067ab9bb..5d5e4afafb540a82e941851236a70ae342c9680a 100644 --- a/N053/stretch3/dr_off/seed_1144/rec/check.txt +++ b/N053/stretch3/dr_off/seed_1144/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_off_1144/out/rec/memorystage/000 --- episode file episode_000000.parquet: 2307 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 2307 at dataset fps 25 = 92.28 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2307 rows vs ceil(4613/2) = 2307 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4673, step differences [2] diff --git a/N053/stretch3/dr_off/seed_1144/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_off/seed_1144/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 2964101cc3e6784b60d0a7e0347610cf2f793de8..93079eb85ae4790de8549dd1b2336c7abd216caf 100644 --- a/N053/stretch3/dr_off/seed_1144/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_off/seed_1144/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2307, "magicsim/control_steps": 4613, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2307, "magicsim/control_steps": 4613, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_off/seed_1144/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_off/seed_1144/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 1a95916d86144211c16d8a7dc7008af9c94fcd02..469146d17676f48b37ebda0d0c9fc896acb2d9bf 100644 --- a/N053/stretch3/dr_off/seed_1144/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_off/seed_1144/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_off/seed_1144/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_off/seed_1144/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_off/seed_1144/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_off/seed_1144/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_off/seed_1145/rec/check.json b/N053/stretch3/dr_off/seed_1145/rec/check.json index 6bf241841a263fac0a49347544a755591e2f85c5..63ece4a0a6b279932dd1ca6643a0cddc43582146 100644 --- a/N053/stretch3/dr_off/seed_1145/rec/check.json +++ b/N053/stretch3/dr_off/seed_1145/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_off/seed_1145/rec/check.txt b/N053/stretch3/dr_off/seed_1145/rec/check.txt index 915e5fb44dd23e32acbb2f9029fbc999d9a3d0e6..62a0d331471fcce15c7b6b17bb68b4ba7d12844c 100644 --- a/N053/stretch3/dr_off/seed_1145/rec/check.txt +++ b/N053/stretch3/dr_off/seed_1145/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_off_1145/out/rec/memorystage/000 --- episode file episode_000000.parquet: 2266 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 2266 at dataset fps 25 = 90.64 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2266 rows vs ceil(4532/2) = 2266 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4591, step differences [2] diff --git a/N053/stretch3/dr_off/seed_1145/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_off/seed_1145/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 763a02ae6f482c93c9d15393328b0953fcaee054..d7e9529b55e1563e83538127d7424e14d3a8bc44 100644 --- a/N053/stretch3/dr_off/seed_1145/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_off/seed_1145/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2266, "magicsim/control_steps": 4532, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2266, "magicsim/control_steps": 4532, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."} diff --git a/N053/stretch3/dr_off/seed_1145/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_off/seed_1145/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index f81c84deaddbacf781ee3c4e880738c22322516f..05c9f2450a7c1e2831afe7feea5c7c9e61fe9145 100644 --- a/N053/stretch3/dr_off/seed_1145/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_off/seed_1145/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_off/seed_1145/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_off/seed_1145/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_off/seed_1145/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_off/seed_1145/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_off/seed_1146/rec/check.json b/N053/stretch3/dr_off/seed_1146/rec/check.json index 1a066de6f5e62d7e5a043556ac262938ee508685..fa0601944098ff8a822eaf768f7b05515b907b45 100644 --- a/N053/stretch3/dr_off/seed_1146/rec/check.json +++ b/N053/stretch3/dr_off/seed_1146/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_off/seed_1146/rec/check.txt b/N053/stretch3/dr_off/seed_1146/rec/check.txt index fad243df0bafcd7559c16724b53439765ff0c5b9..49e7defa2557bee49825e4f43a991747c8fb6cc4 100644 --- a/N053/stretch3/dr_off/seed_1146/rec/check.txt +++ b/N053/stretch3/dr_off/seed_1146/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_off_1146/out/rec/memorystage/000 --- episode file episode_000000.parquet: 2345 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 2345 at dataset fps 25 = 93.80 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2345 rows vs ceil(4690/2) = 2345 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4749, step differences [2] diff --git a/N053/stretch3/dr_off/seed_1146/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_off/seed_1146/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 242a0671212326f426dee35a5890f722436d8a95..66550c869545663eb866e3ede323ff8cb88825ce 100644 --- a/N053/stretch3/dr_off/seed_1146/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_off/seed_1146/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2345, "magicsim/control_steps": 4690, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2345, "magicsim/control_steps": 4690, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_off/seed_1146/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_off/seed_1146/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 04da4d645d99c3541d546a54ecd1f40eba96ea54..878a9730167d87581158b13cefe756cac9577786 100644 --- a/N053/stretch3/dr_off/seed_1146/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_off/seed_1146/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_off/seed_1146/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_off/seed_1146/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_off/seed_1146/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_off/seed_1146/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_off/seed_1147/rec/check.json b/N053/stretch3/dr_off/seed_1147/rec/check.json index 51e05dda9d07d3a9ec61c85c3a95ff60f5765aec..ee9edbaf468907b54a45d633c3855401cc42ce52 100644 --- a/N053/stretch3/dr_off/seed_1147/rec/check.json +++ b/N053/stretch3/dr_off/seed_1147/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_off/seed_1147/rec/check.txt b/N053/stretch3/dr_off/seed_1147/rec/check.txt index 6d82e8f90b4bdebaf7896e4fd4a2803ee5b85103..1abc9cc22ea547d2bb08c3006c6a05de49b05141 100644 --- a/N053/stretch3/dr_off/seed_1147/rec/check.txt +++ b/N053/stretch3/dr_off/seed_1147/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_off_1147/out/rec/memorystage/000 --- episode file episode_000000.parquet: 2326 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 2326 at dataset fps 25 = 93.04 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2326 rows vs ceil(4651/2) = 2326 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4711, step differences [2] diff --git a/N053/stretch3/dr_off/seed_1147/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_off/seed_1147/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 0066221aead6001568bc230f1d5fb23a29d5ba07..b22406759fb14fb87a946cf6106dbcfdcf572ac1 100644 --- a/N053/stretch3/dr_off/seed_1147/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_off/seed_1147/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2326, "magicsim/control_steps": 4651, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2326, "magicsim/control_steps": 4651, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_off/seed_1147/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_off/seed_1147/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 4fba215f13a5ec10315dd226a51da86fe7904a2b..47190c2819821e8cd2e0ce17473f62f43c47408f 100644 --- a/N053/stretch3/dr_off/seed_1147/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_off/seed_1147/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_off/seed_1147/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_off/seed_1147/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_off/seed_1147/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_off/seed_1147/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_off/seed_1148/rec/check.json b/N053/stretch3/dr_off/seed_1148/rec/check.json index 067e9c51852c67326852cbe6cccee11cc8ab24d5..f83a089dc3fae0d963519c5a1a4c3862346fc538 100644 --- a/N053/stretch3/dr_off/seed_1148/rec/check.json +++ b/N053/stretch3/dr_off/seed_1148/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_off/seed_1148/rec/check.txt b/N053/stretch3/dr_off/seed_1148/rec/check.txt index 0bde00725bd3f69181e5670533edef54abe072fb..fbc5c94a5465c0fd39f21743a72b9b8cc4d2d869 100644 --- a/N053/stretch3/dr_off/seed_1148/rec/check.txt +++ b/N053/stretch3/dr_off/seed_1148/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_off_1148_r1/out/rec/memorystage/ --- episode file episode_000000.parquet: 2299 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 2299 at dataset fps 25 = 91.96 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2299 rows vs ceil(4598/2) = 2299 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4657, step differences [2] diff --git a/N053/stretch3/dr_off/seed_1148/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_off/seed_1148/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index dc2430efbf1f152287e22259f36fde73579d1fea..4e86fe7890e4927a26e8c64a7ff846bc6bfd3488 100644 --- a/N053/stretch3/dr_off/seed_1148/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_off/seed_1148/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2299, "magicsim/control_steps": 4598, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2299, "magicsim/control_steps": 4598, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_off/seed_1148/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_off/seed_1148/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 205a85aa9b090d2021411c6cac889e951879a54b..1001a15972481eddaafa218ef4e954d5fa476e14 100644 --- a/N053/stretch3/dr_off/seed_1148/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_off/seed_1148/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_off/seed_1148/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_off/seed_1148/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_off/seed_1148/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_off/seed_1148/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2001/rec/check.json b/N053/stretch3/dr_on/seed_2001/rec/check.json index 867a7fe02c0fc94f3901f5e9ebc58c191e331fd6..7785a04096ee73710245efce5db2a27f50d111bb 100644 --- a/N053/stretch3/dr_on/seed_2001/rec/check.json +++ b/N053/stretch3/dr_on/seed_2001/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2001/rec/check.txt b/N053/stretch3/dr_on/seed_2001/rec/check.txt index bad8f844ffa037db1b67a409d4a40a8a99b382d2..6d2d7fbe84b978aa2e178aaef5cea9e699e4ada8 100644 --- a/N053/stretch3/dr_on/seed_2001/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2001/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/xc536_atomic/n053_str_on_2001/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2312 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 2312 at dataset fps 25 = 92.48 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2312 rows vs ceil(4624/2) = 2312 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4683, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2001/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2001/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 647f6faea59f8746bbe0c37bd2f2a0a54eb4c6e3..c7892f82726e0e53b6e9851013cb6c67322f18d1 100644 --- a/N053/stretch3/dr_on/seed_2001/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2001/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2312, "magicsim/control_steps": 4624, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2312, "magicsim/control_steps": 4624, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2001/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2001/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 4a6d168a4e4aa30e7505957256c1efbc5aee8151..f908265524b0f59d83f4ff31300669f7bf59ae46 100644 --- a/N053/stretch3/dr_on/seed_2001/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2001/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2001/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2001/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2001/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2001/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2002/rec/check.json b/N053/stretch3/dr_on/seed_2002/rec/check.json index b7e6699221b8b6a6c391548ced8bc26e8ca935c9..a29ae49eeb4a49665ed1646d1896500817650b09 100644 --- a/N053/stretch3/dr_on/seed_2002/rec/check.json +++ b/N053/stretch3/dr_on/seed_2002/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2002/rec/check.txt b/N053/stretch3/dr_on/seed_2002/rec/check.txt index 1df429f22cabe76b29f56addb9b19eaf643dc20e..f4826c4a09d68b22b1fc923aae5a9c08fb227514 100644 --- a/N053/stretch3/dr_on/seed_2002/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2002/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/xc536_atomic/n053_str_on_2002/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 3416 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 3416 at dataset fps 25 = 136.64 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3416 rows vs ceil(6832/2) = 3416 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6891, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2002/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2002/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index d177c6e73e204bab360b79ffbfc6dbcf9946fa1e..b3841193b5ff51844bae59618f7e249e4fa2ee30 100644 --- a/N053/stretch3/dr_on/seed_2002/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2002/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 3416, "magicsim/control_steps": 6832, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 3416, "magicsim/control_steps": 6832, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2002/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2002/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 191b8f73fd2f90f7ed81cd32f0b786dbe5a877d4..6307e8a89ce6f684eb6f837ee468548d689c90d0 100644 --- a/N053/stretch3/dr_on/seed_2002/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2002/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2002/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2002/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2002/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2002/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2005/rec/check.json b/N053/stretch3/dr_on/seed_2005/rec/check.json index f372314f6fc33e44816d2d195e8e07dc50f11497..d64439df1861013aedbf38ef8324d6693f21c030 100644 --- a/N053/stretch3/dr_on/seed_2005/rec/check.json +++ b/N053/stretch3/dr_on/seed_2005/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2005/rec/check.txt b/N053/stretch3/dr_on/seed_2005/rec/check.txt index 6e0e3405f451adc22913fb25b9992b97818395ba..903068e240b5a19330f4212a2be78cab06c51d27 100644 --- a/N053/stretch3/dr_on/seed_2005/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2005/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/xc536_atomic/n053_str_on_2005/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2284 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 2284 at dataset fps 25 = 91.36 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2284 rows vs ceil(4567/2) = 2284 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4627, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2005/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2005/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index d8504e711d680a98f7e8e46f9d8e292175f06283..e7e140a44af0eee2f695249a4d59fe1c87ab5305 100644 --- a/N053/stretch3/dr_on/seed_2005/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2005/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2284, "magicsim/control_steps": 4567, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2284, "magicsim/control_steps": 4567, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2005/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2005/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 2b6ed785371ba86eb2e4afd008eff30d2485eda8..e5c57db68a5e800d24e17f7246f6d1a9c1e14312 100644 --- a/N053/stretch3/dr_on/seed_2005/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2005/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2005/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2005/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2005/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2005/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2006/rec/check.json b/N053/stretch3/dr_on/seed_2006/rec/check.json index e9b52c3c65afeb92af36f01a8b8977ac40f6830e..d2ae69b27b490d406575912fe7a85172c892c51d 100644 --- a/N053/stretch3/dr_on/seed_2006/rec/check.json +++ b/N053/stretch3/dr_on/seed_2006/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2006/rec/check.txt b/N053/stretch3/dr_on/seed_2006/rec/check.txt index f933038509d7cd9a3be1207befbfd74bc9daceb1..a57615828559436ada32aa54f129651d8240e703 100644 --- a/N053/stretch3/dr_on/seed_2006/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2006/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/xc536_atomic/n053_str_on_2006/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2295 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 2295 at dataset fps 25 = 91.80 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2295 rows vs ceil(4589/2) = 2295 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4649, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2006/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2006/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 3395f046019f54953da8a5dd4b84bd1dc9234250..28fc27c9e1aeeb48be9960cc90df187ac57045e6 100644 --- a/N053/stretch3/dr_on/seed_2006/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2006/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2295, "magicsim/control_steps": 4589, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2295, "magicsim/control_steps": 4589, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2006/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2006/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 8d986d4110eb8cf5ae37aeffad7839836e92035d..f7f762aabe47ebebac4e0e50706afb33ec521ee1 100644 --- a/N053/stretch3/dr_on/seed_2006/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2006/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2006/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2006/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2006/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2006/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2007/rec/check.json b/N053/stretch3/dr_on/seed_2007/rec/check.json index 99f792b426490cf1fc10bf602a6eac52b2b78186..e6a15a3435bc234e0bc562e3dabad9732dbed7f1 100644 --- a/N053/stretch3/dr_on/seed_2007/rec/check.json +++ b/N053/stretch3/dr_on/seed_2007/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2007/rec/check.txt b/N053/stretch3/dr_on/seed_2007/rec/check.txt index ec09e368fb44ddbeacbf708877e1b7713e030261..ce4475e4fa07c4b5be4e296b955d75d013460c77 100644 --- a/N053/stretch3/dr_on/seed_2007/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2007/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/xc536_atomic/n053_str_on_2007/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2294 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 2294 at dataset fps 25 = 91.76 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2294 rows vs ceil(4588/2) = 2294 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4647, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2007/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2007/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 5e9c0e70a2ca3ee49915a702e1762e1dd357bc85..b240e9d13255be02c8879b99b6208fef935abfc2 100644 --- a/N053/stretch3/dr_on/seed_2007/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2007/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2294, "magicsim/control_steps": 4588, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2294, "magicsim/control_steps": 4588, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2007/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2007/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 35ed1ff03d4dcb4971bbde6c9d5322fa8f6e03c3..21cf8cca602cc84a4e45374e2c430b2ddc58c527 100644 --- a/N053/stretch3/dr_on/seed_2007/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2007/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2007/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2007/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2007/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2007/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2009/rec/check.json b/N053/stretch3/dr_on/seed_2009/rec/check.json index 5c66ae2d415d13793a65b7e4528037e6eaa925df..75705bb362071830032256549e2353864f709ac4 100644 --- a/N053/stretch3/dr_on/seed_2009/rec/check.json +++ b/N053/stretch3/dr_on/seed_2009/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2009/rec/check.txt b/N053/stretch3/dr_on/seed_2009/rec/check.txt index 0d4f5e54b981422e938d948efe599816294ef4b2..78d60aaabdfc5b0343e305d021bf22d6e70f4393 100644 --- a/N053/stretch3/dr_on/seed_2009/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2009/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/xc536_atomic/n053_str_on_2009/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 3180 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 3180 at dataset fps 25 = 127.20 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3180 rows vs ceil(6359/2) = 3180 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6419, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2009/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2009/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 9bcaeff9012aa03bab8ff676277dd2845d7aca34..3cd2b0ae9738706e55a5e4c8f60c56387f5533e1 100644 --- a/N053/stretch3/dr_on/seed_2009/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2009/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 3180, "magicsim/control_steps": 6359, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 3180, "magicsim/control_steps": 6359, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2009/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2009/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 2297ffb71c71ee106013be05d319f930f8241f59..70442fd299dccfdf05efafe02d579532d4d8bd06 100644 --- a/N053/stretch3/dr_on/seed_2009/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2009/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2009/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2009/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2009/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2009/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2010/rec/check.json b/N053/stretch3/dr_on/seed_2010/rec/check.json index a540c4181bd47a89fb04229056cab0ffdf39e1ce..03094f2237defbe5525a7079c68ebf703de5a371 100644 --- a/N053/stretch3/dr_on/seed_2010/rec/check.json +++ b/N053/stretch3/dr_on/seed_2010/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2010/rec/check.txt b/N053/stretch3/dr_on/seed_2010/rec/check.txt index 42ff9ebb75b2d8469a825589fd9571cc023dfc62..ab5ceb5302f5c5ff4d8f53c30baf988796cda9ae 100644 --- a/N053/stretch3/dr_on/seed_2010/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2010/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/xc536_atomic/n053_str_on_2010/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 3428 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 3428 at dataset fps 25 = 137.12 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3428 rows vs ceil(6855/2) = 3428 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6915, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2010/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2010/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index f01c6c8c3d509c303749c8df0cb6a3b39b8aa194..6cbc7ffaf8d0fe5085aec84e58b37c2c77a22b52 100644 --- a/N053/stretch3/dr_on/seed_2010/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2010/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 3428, "magicsim/control_steps": 6855, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 3428, "magicsim/control_steps": 6855, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2010/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2010/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 7348e9e82608580d8a05357fa18b3f5661b2580b..251ad0a1caa25afdc534cc78f4e1f4a9dd7ec4b0 100644 --- a/N053/stretch3/dr_on/seed_2010/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2010/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2010/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2010/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2010/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2010/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2011/rec/check.json b/N053/stretch3/dr_on/seed_2011/rec/check.json index bfff8daa22152e1a9592843c16e451d8aa88137a..cd8af38b1fdfb7255e76e9b785559ba328e8d44e 100644 --- a/N053/stretch3/dr_on/seed_2011/rec/check.json +++ b/N053/stretch3/dr_on/seed_2011/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2011/rec/check.txt b/N053/stretch3/dr_on/seed_2011/rec/check.txt index dec08dfc388f1d8f7d7576f634d2cf5b2b4bae65..0e60adf760b945b7790bd7fe475e6b8158eddbc3 100644 --- a/N053/stretch3/dr_on/seed_2011/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2011/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/xc536_atomic/n053_str_on_2011/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 3129 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 3129 at dataset fps 25 = 125.16 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3129 rows vs ceil(6258/2) = 3129 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6317, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2011/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2011/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 84e01555284a0513b187ac836f19a566ee032d6d..5334d4564a9ea99f372a9127b1df4eed882890f4 100644 --- a/N053/stretch3/dr_on/seed_2011/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2011/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 3129, "magicsim/control_steps": 6258, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 3129, "magicsim/control_steps": 6258, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2011/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2011/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index e2eaefa29dc56cdbd8b55fa11466ac0656004c76..07f88347912e95e5af0df1af49e49d923eec4972 100644 --- a/N053/stretch3/dr_on/seed_2011/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2011/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2011/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2011/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2011/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2011/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2013/rec/check.json b/N053/stretch3/dr_on/seed_2013/rec/check.json index b5e9a6f606730189a0202e6ece3cdb987785e907..e8f82d71e9845eaf805a5c056774c269c30a0010 100644 --- a/N053/stretch3/dr_on/seed_2013/rec/check.json +++ b/N053/stretch3/dr_on/seed_2013/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2013/rec/check.txt b/N053/stretch3/dr_on/seed_2013/rec/check.txt index a003b066387447787c0e54a7d9f92a53b0d6627d..b6a2f5347314cabf522aeaee67f434b06b60f588 100644 --- a/N053/stretch3/dr_on/seed_2013/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2013/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/xc536_atomic/n053_str_on_2013/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2331 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 2331 at dataset fps 25 = 93.24 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2331 rows vs ceil(4662/2) = 2331 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4721, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2013/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2013/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 813f85ab282abe94d8b67faa87c72ee9cd51b6ea..1bcf375d600eb8921733524ca0d37c3551520d67 100644 --- a/N053/stretch3/dr_on/seed_2013/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2013/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2331, "magicsim/control_steps": 4662, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2331, "magicsim/control_steps": 4662, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2013/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2013/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index a57482b3c7f28d47b5bff4836ebd072a2f2d1000..e610c06f14f50498fa8f9fd51504f480400720bf 100644 --- a/N053/stretch3/dr_on/seed_2013/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2013/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2013/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2013/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2013/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2013/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2014/rec/check.json b/N053/stretch3/dr_on/seed_2014/rec/check.json index 5a98132ce236e1221fd476b435743e41bb45d803..3e20306158f7344e2aeb8ac8f6f1b0336eb62866 100644 --- a/N053/stretch3/dr_on/seed_2014/rec/check.json +++ b/N053/stretch3/dr_on/seed_2014/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2014/rec/check.txt b/N053/stretch3/dr_on/seed_2014/rec/check.txt index 9509a6fa9594eb67cbdca0af3748b3083509a2d2..83bed19ec7cf6da9920fe0e7d6e62ec5436b00a8 100644 --- a/N053/stretch3/dr_on/seed_2014/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2014/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/xc536_atomic/n053_str_on_2014/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2322 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 2322 at dataset fps 25 = 92.88 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2322 rows vs ceil(4643/2) = 2322 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4703, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2014/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2014/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 97c7366484a819dbc543dde9c1bc2b03c63a396d..5b2446f61bf959d1186b3c4c9e1e113c5b926556 100644 --- a/N053/stretch3/dr_on/seed_2014/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2014/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2322, "magicsim/control_steps": 4643, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2322, "magicsim/control_steps": 4643, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2014/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2014/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 54b032e829e0870eaab60710744ed5dc24690db9..75b42fdf481a619996d782b8b8cda960bdb59918 100644 --- a/N053/stretch3/dr_on/seed_2014/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2014/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2014/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2014/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2014/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2014/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2101/rec/check.json b/N053/stretch3/dr_on/seed_2101/rec/check.json index b65f943d524aa408e97577e3af830d7a9c1c1886..d564e41329ca2e197df6c3c665e777676e4ee587 100644 --- a/N053/stretch3/dr_on/seed_2101/rec/check.json +++ b/N053/stretch3/dr_on/seed_2101/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2101/rec/check.txt b/N053/stretch3/dr_on/seed_2101/rec/check.txt index dc67a5ff1600751829eea4bfa8bca9916981ba72..e969b0734f0b342bd07589e976e74784bcb34dd8 100644 --- a/N053/stretch3/dr_on/seed_2101/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2101/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2101/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2294 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 2294 at dataset fps 25 = 91.76 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2294 rows vs ceil(4588/2) = 2294 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4647, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2101/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2101/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 95231b896aed96a9172362290b5081e5bbe498bd..f1f18a5904f85ecab92375d968db77f76bde557d 100644 --- a/N053/stretch3/dr_on/seed_2101/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2101/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2294, "magicsim/control_steps": 4588, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2294, "magicsim/control_steps": 4588, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2101/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2101/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index d6c4be0a7f8b17d28f9b0a2f435acec66766c13d..59aca7326e4fc2e746b0a41a96f7c89058f2d46c 100644 --- a/N053/stretch3/dr_on/seed_2101/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2101/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2101/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2101/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2101/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2101/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2102/rec/check.json b/N053/stretch3/dr_on/seed_2102/rec/check.json index b7a1d339d99c7ddd450942f1c318f1b1245d96b9..d32f3bae6a500242c87567a0adeb595f96856f36 100644 --- a/N053/stretch3/dr_on/seed_2102/rec/check.json +++ b/N053/stretch3/dr_on/seed_2102/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2102/rec/check.txt b/N053/stretch3/dr_on/seed_2102/rec/check.txt index 0eab0a18f2ba5538a628c705b33cb7784b24bba7..0eb638aa83ad266915f8d815fef9ad4d41016a6d 100644 --- a/N053/stretch3/dr_on/seed_2102/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2102/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2102_r1/out/rec/memorystage/0 --- episode file episode_000000.parquet: 2305 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 2305 at dataset fps 25 = 92.20 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2305 rows vs ceil(4609/2) = 2305 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4669, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2102/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2102/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 1154af2d1f5824edd64512c43af2edb9e5d42e7e..0219cf2215f87789d84e2bfbf54148a55a4126b1 100644 --- a/N053/stretch3/dr_on/seed_2102/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2102/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2305, "magicsim/control_steps": 4609, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2305, "magicsim/control_steps": 4609, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2102/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2102/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 60b47274f6bda2cec12b2753453f6e5e842b2c66..fd8d82aa636640e8289ea7f674dba329f730f6a6 100644 --- a/N053/stretch3/dr_on/seed_2102/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2102/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2102/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2102/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2102/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2102/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2103/rec/check.json b/N053/stretch3/dr_on/seed_2103/rec/check.json index 02b44a16e54b5fb38d9a60812c6de3ce6da32561..f83988432a1d41163f42deedeaf7d2464563431b 100644 --- a/N053/stretch3/dr_on/seed_2103/rec/check.json +++ b/N053/stretch3/dr_on/seed_2103/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2103/rec/check.txt b/N053/stretch3/dr_on/seed_2103/rec/check.txt index 242e82929a11166b67b4580e5d5e9b8d2f378793..230355ea307519a89b78cfd87a4e3a02ff42b678 100644 --- a/N053/stretch3/dr_on/seed_2103/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2103/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2103_r1/out/rec/memorystage/0 --- episode file episode_000000.parquet: 2293 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 2293 at dataset fps 25 = 91.72 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2293 rows vs ceil(4586/2) = 2293 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4645, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2103/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2103/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index c6a6b2c4c3f2d50c54fe4af29456ef7feff68899..94bbb23fcd5b60622fa300d4726571612374f198 100644 --- a/N053/stretch3/dr_on/seed_2103/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2103/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2293, "magicsim/control_steps": 4586, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2293, "magicsim/control_steps": 4586, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2103/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2103/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 04585408487d240782117e96d39da766aa8a5d37..90c7a215d7fda693520e9a546c9b345473f504dc 100644 --- a/N053/stretch3/dr_on/seed_2103/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2103/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2103/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2103/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2103/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2103/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2104/rec/check.json b/N053/stretch3/dr_on/seed_2104/rec/check.json index 520fab66cc7835dc0252fce1971da167ad34b921..c6300c3d85ba192f639105f947e38c9f91dbbbea 100644 --- a/N053/stretch3/dr_on/seed_2104/rec/check.json +++ b/N053/stretch3/dr_on/seed_2104/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2104/rec/check.txt b/N053/stretch3/dr_on/seed_2104/rec/check.txt index da26fcc37b751c0f8ba9cbefb150a10e0fa96fa2..ca2e48dc243c8a71142807ec11afe5f04be47b0e 100644 --- a/N053/stretch3/dr_on/seed_2104/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2104/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2104/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 3769 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 3769 at dataset fps 25 = 150.76 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3769 rows vs ceil(7538/2) = 3769 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..7597, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2104/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2104/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 0b3973be190bdeacd667fe4af95cb1bee28ac8e9..9183d670f3b7c3cb783de6a68e5bc27ae2484a86 100644 --- a/N053/stretch3/dr_on/seed_2104/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2104/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 3769, "magicsim/control_steps": 7538, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 3769, "magicsim/control_steps": 7538, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2104/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2104/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 3cf42ec86e74161655872fd5018680e36b1fdb08..45c7747e619cd075928f67e80197ee8fee8e2c93 100644 --- a/N053/stretch3/dr_on/seed_2104/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2104/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2104/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2104/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2104/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2104/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2105/rec/check.json b/N053/stretch3/dr_on/seed_2105/rec/check.json index 95d672d38375c2c303536fc9c50fb53e06011420..74430900221a2c70a2fdbe3bcebfd399ff1777b3 100644 --- a/N053/stretch3/dr_on/seed_2105/rec/check.json +++ b/N053/stretch3/dr_on/seed_2105/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2105/rec/check.txt b/N053/stretch3/dr_on/seed_2105/rec/check.txt index c6dbb16ff907c673d7682fe267cca6b9f9adb0a0..ee17b7d74dc392793c53e58026b6a45d6a7d7400 100644 --- a/N053/stretch3/dr_on/seed_2105/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2105/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2105/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 3270 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 3270 at dataset fps 25 = 130.80 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3270 rows vs ceil(6539/2) = 3270 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6599, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2105/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2105/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index c2146941a2db254cf2b18a47bdfa0d01571dd57e..9984b680348682bce9385fd6c1c46ec8a8e66da0 100644 --- a/N053/stretch3/dr_on/seed_2105/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2105/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 3270, "magicsim/control_steps": 6539, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 3270, "magicsim/control_steps": 6539, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2105/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2105/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index fbd2107788fb040e578fa5ad9d7aed810bd8c7b0..1bc7f5dfd984e99edf3c6f583c00be1bc1742345 100644 --- a/N053/stretch3/dr_on/seed_2105/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2105/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2105/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2105/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2105/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2105/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2106/rec/check.json b/N053/stretch3/dr_on/seed_2106/rec/check.json index b319fdd19bc317a7dc66e29862b98c3b11fac589..1d821e252c5a8a7763b0dbf7ad3fff686c9b9c81 100644 --- a/N053/stretch3/dr_on/seed_2106/rec/check.json +++ b/N053/stretch3/dr_on/seed_2106/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2106/rec/check.txt b/N053/stretch3/dr_on/seed_2106/rec/check.txt index 6e42e8386b795a1bc326bf300185eb142cff6723..76ecefaa590147e6a45da726cd8c834057151ffc 100644 --- a/N053/stretch3/dr_on/seed_2106/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2106/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2106/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2323 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 2323 at dataset fps 25 = 92.92 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2323 rows vs ceil(4645/2) = 2323 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4705, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2106/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2106/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 9435814ddc3013506d5e0cfc34716b1eeee694cd..306775baf815ad98978ac4314a30d9ae1d3cf79a 100644 --- a/N053/stretch3/dr_on/seed_2106/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2106/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2323, "magicsim/control_steps": 4645, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2323, "magicsim/control_steps": 4645, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2106/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2106/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 68d292e59e3a9043476ba9639bf836727ca96913..82e19f1a44dc7b73cf2a8463f35a8cb2d71091e7 100644 --- a/N053/stretch3/dr_on/seed_2106/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2106/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2106/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2106/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2106/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2106/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2107/rec/check.json b/N053/stretch3/dr_on/seed_2107/rec/check.json index fcc40be96446c2e4beb3e6ad81d7ea4b840fe70c..a1cd2fb0ebf067cad9d5dfb3e1bfbea759732d67 100644 --- a/N053/stretch3/dr_on/seed_2107/rec/check.json +++ b/N053/stretch3/dr_on/seed_2107/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2107/rec/check.txt b/N053/stretch3/dr_on/seed_2107/rec/check.txt index a9f795013bbfff7775c64bc58cb35c8efbf6751d..eae0a96f696e72d074c13e94236207f9f4e34568 100644 --- a/N053/stretch3/dr_on/seed_2107/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2107/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2107/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 3468 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 3468 at dataset fps 25 = 138.72 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3468 rows vs ceil(6935/2) = 3468 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6995, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2107/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2107/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index b6d59d6b0810cfc43f765fe58c8c783e9cdccfe9..dd425657ed9fd3d794c6551a0c26a2480969d6da 100644 --- a/N053/stretch3/dr_on/seed_2107/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2107/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 3468, "magicsim/control_steps": 6935, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 3468, "magicsim/control_steps": 6935, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2107/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2107/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index cabcdf1627cb5e59f0d8e9143ebb03fd5cab6e7a..83d8c586209b41cc69c0bf65addb03e998786573 100644 --- a/N053/stretch3/dr_on/seed_2107/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2107/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2107/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2107/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2107/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2107/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2108/rec/check.json b/N053/stretch3/dr_on/seed_2108/rec/check.json index a17ef4d96733900cb9f71a1617044e0a049ed097..853700b0e318e967dbcb7b39605125ba54ffe94e 100644 --- a/N053/stretch3/dr_on/seed_2108/rec/check.json +++ b/N053/stretch3/dr_on/seed_2108/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2108/rec/check.txt b/N053/stretch3/dr_on/seed_2108/rec/check.txt index e90def733af72f719a2c71a976625748b1a13730..bdc64961c3bd08b89b3b1d650a9f384d85b27a24 100644 --- a/N053/stretch3/dr_on/seed_2108/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2108/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2108/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 3138 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 3138 at dataset fps 25 = 125.52 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3138 rows vs ceil(6276/2) = 3138 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6335, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2108/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2108/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 36163d7b5a7ff21f7fe127aa64033caf66e987f9..9cb88b036c7946816c780f93813e2fb22b40c847 100644 --- a/N053/stretch3/dr_on/seed_2108/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2108/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 3138, "magicsim/control_steps": 6276, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 3138, "magicsim/control_steps": 6276, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2108/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2108/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index d47467fae6d6dac0c89c7b5d708ef1d61c6b5ab5..1ed2bdb42dfb6f9e2ecf86e8a14ae584bc779b17 100644 --- a/N053/stretch3/dr_on/seed_2108/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2108/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2108/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2108/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2108/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2108/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2109/rec/check.json b/N053/stretch3/dr_on/seed_2109/rec/check.json index 224b3caf3e98a2277688186f1cfa1401f0845643..08aed8b623e533e962747447cb1096d65f6095f5 100644 --- a/N053/stretch3/dr_on/seed_2109/rec/check.json +++ b/N053/stretch3/dr_on/seed_2109/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2109/rec/check.txt b/N053/stretch3/dr_on/seed_2109/rec/check.txt index 900336278cd0e2dc634ee2eb0c5160ac46ac5b7a..501b8814ff09386718a1fc7f45e40b840b39ed5b 100644 --- a/N053/stretch3/dr_on/seed_2109/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2109/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2109/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2315 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 2315 at dataset fps 25 = 92.60 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2315 rows vs ceil(4629/2) = 2315 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4689, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2109/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2109/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index a5c5a1df5cd16119c3494bbfd7253f12ab89ad09..c0108388a81391cf0b7090c1788dfaacd1458775 100644 --- a/N053/stretch3/dr_on/seed_2109/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2109/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2315, "magicsim/control_steps": 4629, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2315, "magicsim/control_steps": 4629, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2109/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2109/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 3fabe0fca31fb4ba07f4a595a80adbb3f0db7055..25b1475d684c30dbad456568b634a29546c47b32 100644 --- a/N053/stretch3/dr_on/seed_2109/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2109/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2109/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2109/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2109/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2109/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2110/rec/check.json b/N053/stretch3/dr_on/seed_2110/rec/check.json index 2a4ac5dc076591eeb262a428399c9fdba7e42d48..e53996f1115207127c13858dff3094f315a5db27 100644 --- a/N053/stretch3/dr_on/seed_2110/rec/check.json +++ b/N053/stretch3/dr_on/seed_2110/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2110/rec/check.txt b/N053/stretch3/dr_on/seed_2110/rec/check.txt index dc053dd68b7842b363aa731eec6f883850a3dada..b8df9fb56a585ea80ab119f2621d9bf444065a2e 100644 --- a/N053/stretch3/dr_on/seed_2110/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2110/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2110/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 3434 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 3434 at dataset fps 25 = 137.36 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3434 rows vs ceil(6868/2) = 3434 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6927, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2110/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2110/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 4114d6b4599689399ddc1e319d840c3b29faa447..e0e260bd76e9d36d7fc96c9bf9ca53bb0935c21e 100644 --- a/N053/stretch3/dr_on/seed_2110/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2110/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 3434, "magicsim/control_steps": 6868, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 3434, "magicsim/control_steps": 6868, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2110/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2110/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 23c8251c2773daa51cb7181be028664bd2f3e863..514f0e131f9e1c951aba7d092856dfaa5fbd7396 100644 --- a/N053/stretch3/dr_on/seed_2110/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2110/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2110/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2110/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2110/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2110/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2111/rec/check.json b/N053/stretch3/dr_on/seed_2111/rec/check.json index 24aca1f7c92c16a0ef44bcc09e4bfd0bd6785ca2..268972bf45aa8751024a02190e77057969993aea 100644 --- a/N053/stretch3/dr_on/seed_2111/rec/check.json +++ b/N053/stretch3/dr_on/seed_2111/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2111/rec/check.txt b/N053/stretch3/dr_on/seed_2111/rec/check.txt index 2b11d3efc523e52750984f75e211e24dba656c90..ac2e2bf5dbde2684e42f91b50a6a6bfe26bcb952 100644 --- a/N053/stretch3/dr_on/seed_2111/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2111/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2111/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 3160 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 3160 at dataset fps 25 = 126.40 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3160 rows vs ceil(6320/2) = 3160 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6379, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2111/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2111/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 7b98b9294c66205540a9892c80aeed0d96f0921d..3eb2f7980b8cc3e4cb968a811269f8a722f547e2 100644 --- a/N053/stretch3/dr_on/seed_2111/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2111/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 3160, "magicsim/control_steps": 6320, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 3160, "magicsim/control_steps": 6320, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2111/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2111/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 6d8fc656ab3775ee84101d2dd29cd79ed86f8a46..ead3d7525495cca4c57dcc44990601751fa27103 100644 --- a/N053/stretch3/dr_on/seed_2111/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2111/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2111/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2111/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2111/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2111/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2112/rec/check.json b/N053/stretch3/dr_on/seed_2112/rec/check.json index 93ae8d01233b34647b4ec12c9f646958e079adc0..d6e7ab75adae357e19913bd1824983393729ac35 100644 --- a/N053/stretch3/dr_on/seed_2112/rec/check.json +++ b/N053/stretch3/dr_on/seed_2112/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2112/rec/check.txt b/N053/stretch3/dr_on/seed_2112/rec/check.txt index 871e7ddeedb610d182de9c08964a1253861328fe..27f3dc6bbbb167f2462ab9d1372ed65662fd5065 100644 --- a/N053/stretch3/dr_on/seed_2112/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2112/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2112/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2299 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 2299 at dataset fps 25 = 91.96 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2299 rows vs ceil(4597/2) = 2299 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4657, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2112/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2112/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index bc8dab8e32a67ce82bd6955c132f87199191b75c..fc016f6c95355ef97dcb4a4600dc8a2b35eedaac 100644 --- a/N053/stretch3/dr_on/seed_2112/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2112/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2299, "magicsim/control_steps": 4597, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2299, "magicsim/control_steps": 4597, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2112/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2112/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 79c217594c739f8edc76bb7bd7544a8d9c02b997..293383f76d3da66a9282f1da17bb89ce293edae3 100644 --- a/N053/stretch3/dr_on/seed_2112/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2112/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2112/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2112/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2112/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2112/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2113/rec/check.json b/N053/stretch3/dr_on/seed_2113/rec/check.json index 388992b9a2ab631a2c784132cdcf4dbae5fb3c74..6a0df0b4b3366d59ebcfe717a026f92b8e1c9cfe 100644 --- a/N053/stretch3/dr_on/seed_2113/rec/check.json +++ b/N053/stretch3/dr_on/seed_2113/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2113/rec/check.txt b/N053/stretch3/dr_on/seed_2113/rec/check.txt index df971ac05ca21910ff48093f50620ad5eb6a7f6d..564c924a81e35e3d30483b2d54f844cc27436b21 100644 --- a/N053/stretch3/dr_on/seed_2113/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2113/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2113/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 3141 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 3141 at dataset fps 25 = 125.64 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3141 rows vs ceil(6281/2) = 3141 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6341, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2113/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2113/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index d3f618aec87495a9c3ce1869bd28df353c05c5e2..abe7274c5723fa976209806b96d211ecb835e8e7 100644 --- a/N053/stretch3/dr_on/seed_2113/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2113/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 3141, "magicsim/control_steps": 6281, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 3141, "magicsim/control_steps": 6281, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2113/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2113/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 96207cf42f7370c0d3607f4d96e514b2ca9d905e..ebbbaa933ac25188997c27c8337e4e3c9bdcc25f 100644 --- a/N053/stretch3/dr_on/seed_2113/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2113/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2113/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2113/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2113/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2113/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2114/rec/check.json b/N053/stretch3/dr_on/seed_2114/rec/check.json index f96beffe32606c4c4a90a71bf8996525de4c7e4b..ea743f3145dbd4688d388d3772898e20a6698dfc 100644 --- a/N053/stretch3/dr_on/seed_2114/rec/check.json +++ b/N053/stretch3/dr_on/seed_2114/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2114/rec/check.txt b/N053/stretch3/dr_on/seed_2114/rec/check.txt index 9c810d3624feeb98edf8a16cd330b06e82606836..6979f4b926d10497cead3e0cb18770fded59d386 100644 --- a/N053/stretch3/dr_on/seed_2114/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2114/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2114/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2321 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 2321 at dataset fps 25 = 92.84 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2321 rows vs ceil(4642/2) = 2321 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4701, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2114/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2114/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index ad3217cf3b515d441ec48dcadef7166bb9111e2a..1e9adfab3e3c7cd837cdfa369ba3534dcbf6ec26 100644 --- a/N053/stretch3/dr_on/seed_2114/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2114/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2321, "magicsim/control_steps": 4642, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2321, "magicsim/control_steps": 4642, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2114/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2114/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 1986f26dc68839851775e14a1956dd0bb532a7c6..10d221665f18de6bd3014791e627d3ec5305c8dd 100644 --- a/N053/stretch3/dr_on/seed_2114/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2114/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2114/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2114/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2114/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2114/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2115/rec/check.json b/N053/stretch3/dr_on/seed_2115/rec/check.json index c1cf76e18b3e872f5a68de0364a80160470f0911..b08db749f9aa2b44e494f612c7724d533cb5afa6 100644 --- a/N053/stretch3/dr_on/seed_2115/rec/check.json +++ b/N053/stretch3/dr_on/seed_2115/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2115/rec/check.txt b/N053/stretch3/dr_on/seed_2115/rec/check.txt index 2d51bd38b90b5c992c46fbcebbed630a4fbfa5cd..0b8103a121f269f6d9b1c6ed4cd4808186a20b87 100644 --- a/N053/stretch3/dr_on/seed_2115/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2115/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2115/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2324 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 2324 at dataset fps 25 = 92.96 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2324 rows vs ceil(4648/2) = 2324 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4707, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2115/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2115/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 36b46144a0e7877321d39a4cfd72ed3ddbf71f64..3980dd034772aa9b5eafed9c358a0f626e094ea4 100644 --- a/N053/stretch3/dr_on/seed_2115/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2115/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2324, "magicsim/control_steps": 4648, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2324, "magicsim/control_steps": 4648, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2115/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2115/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 63f587b61e4932a6e5894ac26900e79864f7118d..39d58796f508c14696757837e5868e23fb258c7d 100644 --- a/N053/stretch3/dr_on/seed_2115/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2115/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2115/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2115/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2115/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2115/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2116/rec/check.json b/N053/stretch3/dr_on/seed_2116/rec/check.json index 8aa10d05119d1b28da50dece20c3e6056d0954d2..06e0c55d4b1b947d62fc9975f2d3d4f7e214e04c 100644 --- a/N053/stretch3/dr_on/seed_2116/rec/check.json +++ b/N053/stretch3/dr_on/seed_2116/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2116/rec/check.txt b/N053/stretch3/dr_on/seed_2116/rec/check.txt index c7fbb39bd08d284aa71f240c01ac3b0d35256f0a..3e8cce06a841429babd668fea68bd13476741dea 100644 --- a/N053/stretch3/dr_on/seed_2116/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2116/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2116/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2313 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 2313 at dataset fps 25 = 92.52 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2313 rows vs ceil(4626/2) = 2313 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4685, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2116/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2116/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 5be96b55a292731ce73a4c082d613e15f150d638..0c371c741169dd4e4e02f6708870d4ec6d22e2b6 100644 --- a/N053/stretch3/dr_on/seed_2116/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2116/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2313, "magicsim/control_steps": 4626, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2313, "magicsim/control_steps": 4626, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2116/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2116/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 482efd7de0206cfd4d71ded9144e628f36f3d374..8b294493227369a2e4a0f070a7833c7cc920078d 100644 --- a/N053/stretch3/dr_on/seed_2116/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2116/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2116/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2116/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2116/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2116/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2117/rec/check.json b/N053/stretch3/dr_on/seed_2117/rec/check.json index ec8c91342bc0395d66ce43a7b38c8f1480d8c859..760e65d96a9c990e111e6ec75338844d944ddf1e 100644 --- a/N053/stretch3/dr_on/seed_2117/rec/check.json +++ b/N053/stretch3/dr_on/seed_2117/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2117/rec/check.txt b/N053/stretch3/dr_on/seed_2117/rec/check.txt index dfc4af5687dec118988eee198f6d6bd44df81919..cca9a3dbfd06253a128e850567d47920742fbbee 100644 --- a/N053/stretch3/dr_on/seed_2117/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2117/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2117_r1/out/rec/memorystage/0 --- episode file episode_000000.parquet: 2320 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 2320 at dataset fps 25 = 92.80 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2320 rows vs ceil(4640/2) = 2320 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4699, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2117/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2117/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index e22c816ac70e42167e9adcb4573bfa6cf7d2e30b..d16fa6043cb6d74219b088a7da812586d6c483f6 100644 --- a/N053/stretch3/dr_on/seed_2117/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2117/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2320, "magicsim/control_steps": 4640, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2320, "magicsim/control_steps": 4640, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2117/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2117/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 101064f98bf7d39da7089afbf27f7767064d3ce6..c3b1e23294eb78014b0cbe5a9cd78189b1422862 100644 --- a/N053/stretch3/dr_on/seed_2117/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2117/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2117/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2117/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2117/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2117/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2118/rec/check.json b/N053/stretch3/dr_on/seed_2118/rec/check.json index 6fe4b67350ace19903c997919d295c969f50882c..cae3605c08f272542a02bc9324c41479f24a5019 100644 --- a/N053/stretch3/dr_on/seed_2118/rec/check.json +++ b/N053/stretch3/dr_on/seed_2118/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2118/rec/check.txt b/N053/stretch3/dr_on/seed_2118/rec/check.txt index 2a0cc359a4de846bb80caa605dbb9452d8f672cc..f1ed1925e7baa1622a0d23119ff272cb1a5ef814 100644 --- a/N053/stretch3/dr_on/seed_2118/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2118/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2118/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2303 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 2303 at dataset fps 25 = 92.12 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2303 rows vs ceil(4605/2) = 2303 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4665, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2118/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2118/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index ebe11d51c73da510e3d00791cc4fa63c93e40a44..3b2e485c4b0a786cb95e77716e679828459c95be 100644 --- a/N053/stretch3/dr_on/seed_2118/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2118/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2303, "magicsim/control_steps": 4605, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2303, "magicsim/control_steps": 4605, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2118/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2118/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index f8fc7da2fa7eb05f824b2eefebb904c2e776ab36..ceb06921f6dacd2ab2579e5f28d5bb2a59186945 100644 --- a/N053/stretch3/dr_on/seed_2118/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2118/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2118/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2118/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2118/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2118/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2119/rec/check.json b/N053/stretch3/dr_on/seed_2119/rec/check.json index 516fb9828949a1ac70cf259c8931d54c5b4c9af0..f43d45dc7540b17aa2a570305d1a704bf3d3abd3 100644 --- a/N053/stretch3/dr_on/seed_2119/rec/check.json +++ b/N053/stretch3/dr_on/seed_2119/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2119/rec/check.txt b/N053/stretch3/dr_on/seed_2119/rec/check.txt index 33d1c1596d33db10392476d0e0565d70b2e52e50..e584229417708425a43a1aa17251589ebf7e901a 100644 --- a/N053/stretch3/dr_on/seed_2119/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2119/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2119/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 3161 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 3161 at dataset fps 25 = 126.44 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3161 rows vs ceil(6322/2) = 3161 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6381, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2119/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2119/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 34d304041de2884aec6354c9de57af3cdba0a5c0..321d3e3b0af01afd61eb475368127182a27c0b5e 100644 --- a/N053/stretch3/dr_on/seed_2119/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2119/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 3161, "magicsim/control_steps": 6322, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 3161, "magicsim/control_steps": 6322, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2119/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2119/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index ab274cb9635fd65053c73257d786365c6a1a7f09..0ffa89d14e4a54e684ddf822d6b380e1c7595204 100644 --- a/N053/stretch3/dr_on/seed_2119/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2119/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2119/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2119/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2119/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2119/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2120/rec/check.json b/N053/stretch3/dr_on/seed_2120/rec/check.json index b357cbe107c34596fb289efdf8ce142833cd5eb2..2050884a9fca7db06cdfb9bdcfb3fc8cee688d08 100644 --- a/N053/stretch3/dr_on/seed_2120/rec/check.json +++ b/N053/stretch3/dr_on/seed_2120/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2120/rec/check.txt b/N053/stretch3/dr_on/seed_2120/rec/check.txt index 4b8a70bdb7302d83b63cb8fccb12d06deac71321..47e17dc6ac1eda4d049046e2d878564b846157a2 100644 --- a/N053/stretch3/dr_on/seed_2120/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2120/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2120/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 3405 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 3405 at dataset fps 25 = 136.20 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3405 rows vs ceil(6809/2) = 3405 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6869, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2120/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2120/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 8a233e19d8e6b386249a27c173533263c1442080..17724d888a35351aab805af5ab77be184987405f 100644 --- a/N053/stretch3/dr_on/seed_2120/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2120/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 3405, "magicsim/control_steps": 6809, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 3405, "magicsim/control_steps": 6809, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2120/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2120/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index abf32d9f8db9878c2fa0909d0d251b50614db007..4398edecc34221b5086e51564f854a03d7505327 100644 --- a/N053/stretch3/dr_on/seed_2120/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2120/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2120/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2120/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2120/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2120/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2122/rec/check.json b/N053/stretch3/dr_on/seed_2122/rec/check.json index 78e2b66664a51add23ab74433eea9e90f6ad6c14..5729df6fb4a6f79897c3e83b92d2f2c830843063 100644 --- a/N053/stretch3/dr_on/seed_2122/rec/check.json +++ b/N053/stretch3/dr_on/seed_2122/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2122/rec/check.txt b/N053/stretch3/dr_on/seed_2122/rec/check.txt index 90247aebf44198df422298bd64118ca4591172a8..c1a231a21f3e6385817580b543211f8b332126c8 100644 --- a/N053/stretch3/dr_on/seed_2122/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2122/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2122/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2313 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 2313 at dataset fps 25 = 92.52 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2313 rows vs ceil(4625/2) = 2313 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4685, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2122/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2122/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index b94639bb7e6caa9e49b4210a38dd1896c99327b6..5ee83de35e89ec3f1cafa8479b90d95bd0d750db 100644 --- a/N053/stretch3/dr_on/seed_2122/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2122/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2313, "magicsim/control_steps": 4625, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2313, "magicsim/control_steps": 4625, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2122/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2122/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index d0e17341bc24f53cd9db847aa24a0c047eb45f06..a07de43d1888065d9945f728e12dc07fc8e68a46 100644 --- a/N053/stretch3/dr_on/seed_2122/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2122/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2122/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2122/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2122/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2122/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2123/rec/check.json b/N053/stretch3/dr_on/seed_2123/rec/check.json index ed854024dbafdbf0684371e24d0f14c62e0dda56..f32d00f45d5ffac880d18dfaa2066f84e5a27e44 100644 --- a/N053/stretch3/dr_on/seed_2123/rec/check.json +++ b/N053/stretch3/dr_on/seed_2123/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2123/rec/check.txt b/N053/stretch3/dr_on/seed_2123/rec/check.txt index bb32a141774ff61824845048fee45a37246f4fde..32840e24ac081420a8369db3cc23f97ae1773388 100644 --- a/N053/stretch3/dr_on/seed_2123/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2123/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2123/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 3458 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 3458 at dataset fps 25 = 138.32 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3458 rows vs ceil(6915/2) = 3458 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6975, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2123/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2123/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index b01a7fd382b7bee0b08d92ef5f3c379f531f7b00..f53686bc9ef41b64ff3083dd4a6a6a1399e1c719 100644 --- a/N053/stretch3/dr_on/seed_2123/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2123/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 3458, "magicsim/control_steps": 6915, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 3458, "magicsim/control_steps": 6915, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2123/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2123/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 17bd935d17bbd544e7ba7c0b8ffc8be7424b0838..1cde0a9e380b10006db04a1e1b532af9e283a221 100644 --- a/N053/stretch3/dr_on/seed_2123/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2123/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2123/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2123/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2123/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2123/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2124/rec/check.json b/N053/stretch3/dr_on/seed_2124/rec/check.json index a20577abbf99a68ac5c9a299b38b6ec12d791cc8..cf69b13c0b7d553b605fc1bcb55bcbd5e0c86f41 100644 --- a/N053/stretch3/dr_on/seed_2124/rec/check.json +++ b/N053/stretch3/dr_on/seed_2124/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2124/rec/check.txt b/N053/stretch3/dr_on/seed_2124/rec/check.txt index e46a988c56dd11ad57e9699ede99391381a3c67c..6427ab43cd00f3117c6ba859e0688946580d2ad2 100644 --- a/N053/stretch3/dr_on/seed_2124/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2124/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2124/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2335 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 2335 at dataset fps 25 = 93.40 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2335 rows vs ceil(4670/2) = 2335 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4729, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2124/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2124/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 74f59c7a8cf0dd82fdc278cc93462113d50da924..8cb368bfc1d42de08458a4dc08839a7072982e0d 100644 --- a/N053/stretch3/dr_on/seed_2124/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2124/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2335, "magicsim/control_steps": 4670, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2335, "magicsim/control_steps": 4670, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2124/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2124/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 34ec691ca2bc210a566faabe7e0551906e8bca73..415d0e3a22594b62a2ca05a1c51460d26fdf0bce 100644 --- a/N053/stretch3/dr_on/seed_2124/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2124/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2124/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2124/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2124/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2124/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2126/rec/check.json b/N053/stretch3/dr_on/seed_2126/rec/check.json index 457081dbf190c113e0f846fa62c61ecbff258497..d387d2a2eb812140d85dd1b2196100d487bcbd24 100644 --- a/N053/stretch3/dr_on/seed_2126/rec/check.json +++ b/N053/stretch3/dr_on/seed_2126/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2126/rec/check.txt b/N053/stretch3/dr_on/seed_2126/rec/check.txt index 2d2f9ec187f4d7c2f7c2210fe090340f6e5049cb..8f490a82c4f488acaca884048ae74d9587e6979d 100644 --- a/N053/stretch3/dr_on/seed_2126/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2126/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2126/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 3158 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 3158 at dataset fps 25 = 126.32 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3158 rows vs ceil(6316/2) = 3158 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6375, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2126/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2126/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 52b1067bbdb3d949476e86420e588d209a2329d4..661c60b95a1e860fe24a2522ff30d4123d64370c 100644 --- a/N053/stretch3/dr_on/seed_2126/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2126/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 3158, "magicsim/control_steps": 6316, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 3158, "magicsim/control_steps": 6316, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2126/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2126/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 02bdf1c6a32bb1dda75069469ada330e37540dcb..b16bdd314fb78d0224900ac6e8cae78173190b6d 100644 --- a/N053/stretch3/dr_on/seed_2126/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2126/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2126/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2126/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2126/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2126/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2127/rec/check.json b/N053/stretch3/dr_on/seed_2127/rec/check.json index b44ecf83981eca106488bd10b0b0e30d0a7489d2..65516d841c74e34cf90f88aaf25528042b17d9e4 100644 --- a/N053/stretch3/dr_on/seed_2127/rec/check.json +++ b/N053/stretch3/dr_on/seed_2127/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2127/rec/check.txt b/N053/stretch3/dr_on/seed_2127/rec/check.txt index bc32a45b498e83d61f50a1f667965c622c27ee70..7bbb08f2da1529967739fe86eef0fda3a0f5e203 100644 --- a/N053/stretch3/dr_on/seed_2127/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2127/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2127_r1/out/rec/memorystage/0 --- episode file episode_000000.parquet: 3330 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 3330 at dataset fps 25 = 133.20 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3330 rows vs ceil(6660/2) = 3330 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6719, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2127/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2127/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 32ee7a98838109a11ded38df00b09fe44b146a1c..2cad18bd2a0451b0408cbec8ae05ad3f94362615 100644 --- a/N053/stretch3/dr_on/seed_2127/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2127/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 3330, "magicsim/control_steps": 6660, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 3330, "magicsim/control_steps": 6660, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2127/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2127/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 15fbc16d1c6d1d8ab3b9eb7a2fa38898a1ced448..4dadbeed08132b4f34782899473d6653c9e060dd 100644 --- a/N053/stretch3/dr_on/seed_2127/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2127/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2127/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2127/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2127/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2127/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2128/rec/check.json b/N053/stretch3/dr_on/seed_2128/rec/check.json index 981aff7ec0413e355c3ee41c0b1b28e33e85bbd0..958e0c0c4c193e8347dfb4cbff3d2374faa76043 100644 --- a/N053/stretch3/dr_on/seed_2128/rec/check.json +++ b/N053/stretch3/dr_on/seed_2128/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2128/rec/check.txt b/N053/stretch3/dr_on/seed_2128/rec/check.txt index a018ced97027fab05478e04448d1d38b390ca6bd..f14a9368027fb39133aaf4dfc0edd3b0c4a5ed8c 100644 --- a/N053/stretch3/dr_on/seed_2128/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2128/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2128_r1/out/rec/memorystage/0 --- episode file episode_000000.parquet: 3141 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 3141 at dataset fps 25 = 125.64 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3141 rows vs ceil(6282/2) = 3141 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6341, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2128/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2128/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 95a6798d6cd33843e7f5176f6b12fa383fe43710..116700369bcccf44d5d2f74c1590d0b8cdfa3e04 100644 --- a/N053/stretch3/dr_on/seed_2128/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2128/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 3141, "magicsim/control_steps": 6282, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 3141, "magicsim/control_steps": 6282, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2128/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2128/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 1ffc98b5ad41f44759f41323e8bc1e30435c8abc..9ec116d901284c66b5ecf0bb2b4893b49e5f4524 100644 --- a/N053/stretch3/dr_on/seed_2128/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2128/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2128/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2128/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2128/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2128/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2129/rec/check.json b/N053/stretch3/dr_on/seed_2129/rec/check.json index ecc71661c7642cec431edf16c741ec2b50294d3f..916f983aac5fec7df82e9bc572f116143f99979b 100644 --- a/N053/stretch3/dr_on/seed_2129/rec/check.json +++ b/N053/stretch3/dr_on/seed_2129/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2129/rec/check.txt b/N053/stretch3/dr_on/seed_2129/rec/check.txt index 2d01591caa0d0121839a02570417f06a325aaf20..2a96c071a748dc1e88af5fc78e26bdc2844bb17d 100644 --- a/N053/stretch3/dr_on/seed_2129/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2129/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2129_r1/out/rec/memorystage/0 --- episode file episode_000000.parquet: 3360 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 3360 at dataset fps 25 = 134.40 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3360 rows vs ceil(6719/2) = 3360 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6779, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2129/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2129/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index fb87e0dee7c06e0461886ba859870da31eb3d0fe..dd214fb1385c1912a084953191a2e98549698af2 100644 --- a/N053/stretch3/dr_on/seed_2129/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2129/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 3360, "magicsim/control_steps": 6719, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 3360, "magicsim/control_steps": 6719, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2129/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2129/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index f91f57aeb5a083d346e9b6f0626e2a1588b89be6..0691d0d4ea58c7bd31c5a3242a4c2fc09e8a7cfe 100644 --- a/N053/stretch3/dr_on/seed_2129/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2129/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2129/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2129/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2129/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2129/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2130/rec/check.json b/N053/stretch3/dr_on/seed_2130/rec/check.json index 2507d05fac6a8ab7715fda03e85353ec3beca85f..a60fb7c8b656ac379d7b0a2f71480016d2234aba 100644 --- a/N053/stretch3/dr_on/seed_2130/rec/check.json +++ b/N053/stretch3/dr_on/seed_2130/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2130/rec/check.txt b/N053/stretch3/dr_on/seed_2130/rec/check.txt index 97f2b91dcaca2202e508e71e308307a3da8a5623..5997ab7f121d424ad24e9490cbe0cc721f0ef88c 100644 --- a/N053/stretch3/dr_on/seed_2130/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2130/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2130/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2317 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 2317 at dataset fps 25 = 92.68 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2317 rows vs ceil(4634/2) = 2317 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4693, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2130/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2130/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index eba01c05aa4a3e650a2cdb137801f84fdf73f634..851479489bcddb7f3e1d476ff047accd216627f4 100644 --- a/N053/stretch3/dr_on/seed_2130/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2130/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2317, "magicsim/control_steps": 4634, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2317, "magicsim/control_steps": 4634, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2130/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2130/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 23bd9ee7ad401a9cd5a7037e2c665403fffe6ae9..697c8ecbc6e7e379ef83a676cdf1ff8b8ef38cce 100644 --- a/N053/stretch3/dr_on/seed_2130/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2130/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2130/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2130/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2130/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2130/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2131/rec/check.json b/N053/stretch3/dr_on/seed_2131/rec/check.json index 71b754d1b58732450d8dc93b7272640621111dee..07f389ccb96b15efa025b12f79b919c400d946e6 100644 --- a/N053/stretch3/dr_on/seed_2131/rec/check.json +++ b/N053/stretch3/dr_on/seed_2131/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2131/rec/check.txt b/N053/stretch3/dr_on/seed_2131/rec/check.txt index 012f81f6ec0ddb923c9cdeeddf355562890457b4..16bd774fc41fc59b5b134712efa16a255ffa5743 100644 --- a/N053/stretch3/dr_on/seed_2131/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2131/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2131/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2305 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 2305 at dataset fps 25 = 92.20 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2305 rows vs ceil(4609/2) = 2305 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4669, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2131/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2131/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 1154af2d1f5824edd64512c43af2edb9e5d42e7e..0219cf2215f87789d84e2bfbf54148a55a4126b1 100644 --- a/N053/stretch3/dr_on/seed_2131/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2131/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2305, "magicsim/control_steps": 4609, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2305, "magicsim/control_steps": 4609, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2131/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2131/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 295ea21396f3eab037d52a29efa38b0c2ae9dc01..5d64458ec00403c57a630f0603006fa1444675bd 100644 --- a/N053/stretch3/dr_on/seed_2131/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2131/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2131/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2131/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2131/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2131/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2132/rec/check.json b/N053/stretch3/dr_on/seed_2132/rec/check.json index 0982944eafd896826481f9fbecbd65bbb40b014a..45c5bc4dccd6c0f364bbe15d4513085e59defb43 100644 --- a/N053/stretch3/dr_on/seed_2132/rec/check.json +++ b/N053/stretch3/dr_on/seed_2132/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2132/rec/check.txt b/N053/stretch3/dr_on/seed_2132/rec/check.txt index 05e2fb5a9f1a05896cf66c24fb121baa65b76b7c..cb15e53f1fef2122a25bd2e63efcaf921478632c 100644 --- a/N053/stretch3/dr_on/seed_2132/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2132/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2132/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 3237 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 3237 at dataset fps 25 = 129.48 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3237 rows vs ceil(6474/2) = 3237 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6533, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2132/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2132/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index dd695aba80ee5f874a752a13d19b8ded964c13fe..aa47354124bdc99536a4d99e01f99c631bbff965 100644 --- a/N053/stretch3/dr_on/seed_2132/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2132/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 3237, "magicsim/control_steps": 6474, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 3237, "magicsim/control_steps": 6474, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2132/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2132/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index b7dae8cdcc9ed5a24682335a62da678c65887e53..963c8108c8e6e56483b1f7406c7c6450bfeceb6d 100644 --- a/N053/stretch3/dr_on/seed_2132/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2132/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2132/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2132/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2132/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2132/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2133/rec/check.json b/N053/stretch3/dr_on/seed_2133/rec/check.json index 88bde132d558f6d6181491e9536d28e5894a01f0..2a318975a39fe97251c7c7549bdf88f0f6c45b91 100644 --- a/N053/stretch3/dr_on/seed_2133/rec/check.json +++ b/N053/stretch3/dr_on/seed_2133/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2133/rec/check.txt b/N053/stretch3/dr_on/seed_2133/rec/check.txt index a3245bd45659d9fb4b225c0468c62ba469b43800..c5b3cd07c047885a9ab13fba679ecfefa774bead 100644 --- a/N053/stretch3/dr_on/seed_2133/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2133/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2133/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 3385 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 3385 at dataset fps 25 = 135.40 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3385 rows vs ceil(6769/2) = 3385 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6829, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2133/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2133/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 74569a3c551c87ae94ecb33606bdf42b83df356f..f3454f380a24e6dd5dc3447127b0841421b990e9 100644 --- a/N053/stretch3/dr_on/seed_2133/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2133/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 3385, "magicsim/control_steps": 6769, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 3385, "magicsim/control_steps": 6769, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2133/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2133/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 33a5e3c2215c3e8730a89c26fe19d29fb96c8cd6..c7080152a70e55130f337dada48eaa879aea1dcc 100644 --- a/N053/stretch3/dr_on/seed_2133/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2133/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2133/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2133/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2133/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2133/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2134/rec/check.json b/N053/stretch3/dr_on/seed_2134/rec/check.json index 4571e899539738e28af187f693d9101dbd57d8dd..9f929f632540426ffe0ea16c81eba719b2354936 100644 --- a/N053/stretch3/dr_on/seed_2134/rec/check.json +++ b/N053/stretch3/dr_on/seed_2134/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2134/rec/check.txt b/N053/stretch3/dr_on/seed_2134/rec/check.txt index d4ab4a1dea259a3b14485b0d7b79e63536388a19..cf26e4bfba034d9f88142ce63cbd0ebbec4c0077 100644 --- a/N053/stretch3/dr_on/seed_2134/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2134/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2134/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2315 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 2315 at dataset fps 25 = 92.60 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2315 rows vs ceil(4630/2) = 2315 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4689, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2134/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2134/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 04a033e042fb66a389dd647222e830ee53799e98..3d023c1ca5d77e1cdf95532ebea14554a18f9e8a 100644 --- a/N053/stretch3/dr_on/seed_2134/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2134/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2315, "magicsim/control_steps": 4630, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2315, "magicsim/control_steps": 4630, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2134/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2134/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index c79a4d49df5c1811b35e6200f89ac42ba5b18f90..c21264e5f1c14c31f44ece94f222be5f0033a275 100644 --- a/N053/stretch3/dr_on/seed_2134/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2134/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2134/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2134/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2134/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2134/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2135/rec/check.json b/N053/stretch3/dr_on/seed_2135/rec/check.json index 689c756669457cc89dbcd01254f3c324d449b97c..c518d1482a20ba27e95df25d202fce23e184d48d 100644 --- a/N053/stretch3/dr_on/seed_2135/rec/check.json +++ b/N053/stretch3/dr_on/seed_2135/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2135/rec/check.txt b/N053/stretch3/dr_on/seed_2135/rec/check.txt index b1f3e2683cc282645ad52b252fcbb2d91b0429c9..c94e20cdc8f1979c3b7df4e8e0926077a349ff4f 100644 --- a/N053/stretch3/dr_on/seed_2135/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2135/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2135/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 3098 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 3098 at dataset fps 25 = 123.92 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3098 rows vs ceil(6195/2) = 3098 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6255, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 385774f8be1178612e0a94f3a0150a789daa1e33..8f61fa8b5d8c4269af6c0f493ae2b4634549bcee 100644 --- a/N053/stretch3/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 3098, "magicsim/control_steps": 6195, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 3098, "magicsim/control_steps": 6195, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 976f7ada79556312b3d5774a786955b765dd4934..a6f0fcff75984983768146cd824877781904577e 100644 --- a/N053/stretch3/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2137/rec/check.json b/N053/stretch3/dr_on/seed_2137/rec/check.json index ca3efa8c0d785a410a6c4fff54157afa47078853..340fcf378e2240d7627ad83006c91aa3d116d65a 100644 --- a/N053/stretch3/dr_on/seed_2137/rec/check.json +++ b/N053/stretch3/dr_on/seed_2137/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2137/rec/check.txt b/N053/stretch3/dr_on/seed_2137/rec/check.txt index a90729897c28f7a6469b1502e616d4c21646ea18..caf51af10f23adc50f9bb22ddae6cad0d9332661 100644 --- a/N053/stretch3/dr_on/seed_2137/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2137/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2137/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2279 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 2279 at dataset fps 25 = 91.16 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2279 rows vs ceil(4557/2) = 2279 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4617, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2137/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2137/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index cc7167c0e0b11422c650a92446643a405e9e7c31..d8e02fc74f5b05f836e0b3b107ab96ff0eace1f9 100644 --- a/N053/stretch3/dr_on/seed_2137/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2137/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2279, "magicsim/control_steps": 4557, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2279, "magicsim/control_steps": 4557, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2137/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2137/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index decaaf5bf395354458e2e73404e5264792c1a0e7..1b1b850e44e1e53268364fcd58ae6a0fe5df6597 100644 --- a/N053/stretch3/dr_on/seed_2137/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2137/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2137/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2137/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2137/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2137/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2139/rec/check.json b/N053/stretch3/dr_on/seed_2139/rec/check.json index 47ef2b300f6b9c13cc17ea946316765d5f3553ee..e25d851a1fc5da9c940239e4bfcf3a9f6c22cc42 100644 --- a/N053/stretch3/dr_on/seed_2139/rec/check.json +++ b/N053/stretch3/dr_on/seed_2139/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2139/rec/check.txt b/N053/stretch3/dr_on/seed_2139/rec/check.txt index 9df60a2f4c82d59a2996f8271d5e25729517e156..9238c966d29d1a1ac4947ca3cb03429c1012a56d 100644 --- a/N053/stretch3/dr_on/seed_2139/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2139/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2139/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2287 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 2287 at dataset fps 25 = 91.48 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2287 rows vs ceil(4573/2) = 2287 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4633, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2139/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2139/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 8842e554c4fa8865fd853deda0a4eeec42cfce95..d0f1ceb85b32af612b4f592a7f328c98007b1d1e 100644 --- a/N053/stretch3/dr_on/seed_2139/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2139/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2287, "magicsim/control_steps": 4573, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2287, "magicsim/control_steps": 4573, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2139/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2139/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 65f8d3d492a1c5ecb910dbc1adc82aad3439cf58..1487a246219c14988379cf65657f11d3a5438c6e 100644 --- a/N053/stretch3/dr_on/seed_2139/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2139/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2139/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2139/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2139/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2139/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2140/rec/check.json b/N053/stretch3/dr_on/seed_2140/rec/check.json index 06e466318fa910ea57342bb70101185c00b963ae..9f99ab03c2b7f20aaf127070576bab5ce9b3e233 100644 --- a/N053/stretch3/dr_on/seed_2140/rec/check.json +++ b/N053/stretch3/dr_on/seed_2140/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2140/rec/check.txt b/N053/stretch3/dr_on/seed_2140/rec/check.txt index 45fffe3da868692b13c02a8c3d7c8f467f28d70b..da9263c36ad07fdb4cf22c4eca67feccb7326038 100644 --- a/N053/stretch3/dr_on/seed_2140/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2140/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2140/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 3312 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 3312 at dataset fps 25 = 132.48 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3312 rows vs ceil(6624/2) = 3312 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6683, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2140/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2140/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index ffd193d395c48e42979362242597941405efe221..6e4f16e8841280006d3ad279ce018dd4250f8c54 100644 --- a/N053/stretch3/dr_on/seed_2140/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2140/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 3312, "magicsim/control_steps": 6624, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 3312, "magicsim/control_steps": 6624, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2140/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2140/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 16aa9d3fa3bfbde2145236b9bab3f7f6e83f6e64..070f9f8d3ea1bfed495e071142180820aa5efeb0 100644 --- a/N053/stretch3/dr_on/seed_2140/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2140/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2140/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2140/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2140/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2140/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2141/rec/check.json b/N053/stretch3/dr_on/seed_2141/rec/check.json index f2a6bb041d229fccc50ca639e072fa1867863cf3..f58bc6957c66322b2b12fbaf84ad650b36da79c2 100644 --- a/N053/stretch3/dr_on/seed_2141/rec/check.json +++ b/N053/stretch3/dr_on/seed_2141/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2141/rec/check.txt b/N053/stretch3/dr_on/seed_2141/rec/check.txt index 4af447a1f1155214420ea2d181279f09e42bbaba..3e0abddf18c64ae036d51e6a47f757297106a206 100644 --- a/N053/stretch3/dr_on/seed_2141/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2141/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2141/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 3468 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 3468 at dataset fps 25 = 138.72 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3468 rows vs ceil(6936/2) = 3468 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6995, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2141/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2141/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index db7f17fe938cb34ed66fd11ef7e2561808631050..9c90d4eb6ca8df3dd0480879365049a5d6a5854b 100644 --- a/N053/stretch3/dr_on/seed_2141/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2141/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 3468, "magicsim/control_steps": 6936, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 3468, "magicsim/control_steps": 6936, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2141/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2141/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 51be3b7bf8eff0a251de4e13df3a981b67cf5d93..bf3cc6804e949c2b9d9296deff36793784bab946 100644 --- a/N053/stretch3/dr_on/seed_2141/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2141/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2141/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2141/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2141/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2141/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2142/rec/check.json b/N053/stretch3/dr_on/seed_2142/rec/check.json index 1168d0a25f20e6c30e28edc6c68a53b7866fa29f..099402a72eac2ac11629047f7571fcf1ec8fa2df 100644 --- a/N053/stretch3/dr_on/seed_2142/rec/check.json +++ b/N053/stretch3/dr_on/seed_2142/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2142/rec/check.txt b/N053/stretch3/dr_on/seed_2142/rec/check.txt index 63421934704a4f3c7f759782bf0f60622b2388ad..4d379d6decdaacfeab57c1196d2d66085681c7d7 100644 --- a/N053/stretch3/dr_on/seed_2142/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2142/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2142/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 3120 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 3120 at dataset fps 25 = 124.80 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3120 rows vs ceil(6239/2) = 3120 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6299, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2142/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2142/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 35c5975ac3aaca7b86bba4a5b00f1888b45f4787..b35a7a7c990ad8effe647993ee8a17562fb8c561 100644 --- a/N053/stretch3/dr_on/seed_2142/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2142/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 3120, "magicsim/control_steps": 6239, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 3120, "magicsim/control_steps": 6239, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2142/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2142/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 6ba1dcdb3a4343f54789f90502ce5134d2162e26..f701598e42e6131206f022cb4c2a1895833b9856 100644 --- a/N053/stretch3/dr_on/seed_2142/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2142/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2142/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2142/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2142/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2142/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2143/rec/check.json b/N053/stretch3/dr_on/seed_2143/rec/check.json index 259445a76fead0a5847d988a0d910d832dc9ff9e..79cbc3d98b491dcc331dbc930e46b9f86ba87cb7 100644 --- a/N053/stretch3/dr_on/seed_2143/rec/check.json +++ b/N053/stretch3/dr_on/seed_2143/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2143/rec/check.txt b/N053/stretch3/dr_on/seed_2143/rec/check.txt index 552db1d3e293dcde7b7c59378017385eee58aec6..139a6ad430dde481cafb07890b2f6ae1a0a863c0 100644 --- a/N053/stretch3/dr_on/seed_2143/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2143/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2143/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 3133 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 3133 at dataset fps 25 = 125.32 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3133 rows vs ceil(6266/2) = 3133 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6325, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2143/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2143/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index dc9e0a2ca4d12a33c795fdc3aad8081d322086b9..b2ac4bb7f6b055df525bf7e5dd8271adaf9deacc 100644 --- a/N053/stretch3/dr_on/seed_2143/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2143/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 3133, "magicsim/control_steps": 6266, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 3133, "magicsim/control_steps": 6266, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2143/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2143/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index c075346264b21747cf80a866eeae72ae1512559f..01ba678b9eb96b33ec413678590470ce2e8f7b44 100644 --- a/N053/stretch3/dr_on/seed_2143/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2143/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2143/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2143/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2143/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2143/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2144/rec/check.json b/N053/stretch3/dr_on/seed_2144/rec/check.json index 6d44d1d093e8c7547f175dc9fa29ed9e4d6dade5..239db44aea6cd4b681a0e1c8bb0f6b03077dd0b5 100644 --- a/N053/stretch3/dr_on/seed_2144/rec/check.json +++ b/N053/stretch3/dr_on/seed_2144/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2144/rec/check.txt b/N053/stretch3/dr_on/seed_2144/rec/check.txt index 9bc1e422bb5371ca866399a8e24a61472e96c608..e7893b59ac2450b23786d8dadd65adbee94201bf 100644 --- a/N053/stretch3/dr_on/seed_2144/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2144/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2144/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 3398 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 3398 at dataset fps 25 = 135.92 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3398 rows vs ceil(6796/2) = 3398 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6855, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2144/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2144/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 525c0d3e021c261831cea50196d88169d1bf42f9..0a8a72d923a32f7d181f05d082db5769958c6f6c 100644 --- a/N053/stretch3/dr_on/seed_2144/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2144/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 3398, "magicsim/control_steps": 6796, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 3398, "magicsim/control_steps": 6796, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2144/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2144/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index a63c5b96ed7156bb546bab657786136b262557bf..af01a7da5d30ff859ed2f3abb51c02cfa76a8c4f 100644 --- a/N053/stretch3/dr_on/seed_2144/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2144/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2144/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2144/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2144/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2144/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."} diff --git a/N053/stretch3/dr_on/seed_2145/rec/check.json b/N053/stretch3/dr_on/seed_2145/rec/check.json index 1b19bc73124c7f8ba0d0d6c3b5e3956b2d7583bb..141b086cc79b700766796ed0e4a03c6f279ae1fe 100644 --- a/N053/stretch3/dr_on/seed_2145/rec/check.json +++ b/N053/stretch3/dr_on/seed_2145/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'" + "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N053/stretch3/dr_on/seed_2145/rec/check.txt b/N053/stretch3/dr_on/seed_2145/rec/check.txt index 5da4d6a62f4add107ea63b034186132c116cf256..0aec18077554a31766f490393319f2e9a873d80c 100644 --- a/N053/stretch3/dr_on/seed_2145/rec/check.txt +++ b/N053/stretch3/dr_on/seed_2145/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_on_2145/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2305 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.' rows 2305 at dataset fps 25 = 92.20 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2305 rows vs ceil(4610/2) = 2305 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4669, step differences [2] diff --git a/N053/stretch3/dr_on/seed_2145/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N053/stretch3/dr_on/seed_2145/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index e72de8e7530715deb2bf13801beb44ec328ce76b..781f77b298ab35b382675c47975558e8cdc273a2 100644 --- a/N053/stretch3/dr_on/seed_2145/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N053/stretch3/dr_on/seed_2145/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2305, "magicsim/control_steps": 4610, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2305, "magicsim/control_steps": 4610, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."} diff --git a/N053/stretch3/dr_on/seed_2145/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N053/stretch3/dr_on/seed_2145/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 4af8130bbfb939fbecf2d756726a7e7ec010ed43..6bae0ae28fc0c6b31ebd491e25e2676d18191338 100644 --- a/N053/stretch3/dr_on/seed_2145/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N053/stretch3/dr_on/seed_2145/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -534,7 +534,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.", + "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N053/stretch3/dr_on/seed_2145/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N053/stretch3/dr_on/seed_2145/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index 577f78948573fbc166b2f4f9635e6ef0aae713bf..601389552aa6182826e3a2e4fe872a274827ef9c 100644 --- a/N053/stretch3/dr_on/seed_2145/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N053/stretch3/dr_on/seed_2145/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."} +{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."}