diff --git a/N025/go2_arm/dr_off/seed_1034/check.json b/N025/go2_arm/dr_off/seed_1034/check.json new file mode 100644 index 0000000000000000000000000000000000000000..cfc7b54ebac8bbc2fe848f5aca1ef9df52a10088 --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1034/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2028 rows vs ceil(4056/2) = 2028" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..4085, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "20.12 MB, 2028 frames at 25 fps, mean luma 110..141, std 23, new picture 2027x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2028 vs 2028" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "29.82 MB, 2028 frames at 25 fps, mean luma 112..172, std 29, new picture 2027x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2028 vs 2028" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N025/go2_arm/dr_off/seed_1034/check.txt b/N025/go2_arm/dr_off/seed_1034/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..c791ebf575054143f723d9fe67547767b8842320 --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1034/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_go2_off_1034/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_go2_off_1034/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2028 videos 2 robot_type Go2PlusCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 2028 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.' +rows 2028 at dataset fps 25 = 81.12 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2028 rows vs ceil(4056/2) = 2028 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..4085, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 20.12 MB, 2028 frames at 25 fps, mean luma 110..141, std 23, new picture 2027x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2028 vs 2028 +[PASS] video observation.images.wrist decodes, 640x480, not black: 29.82 MB, 2028 frames at 25 fps, mean luma 112..172, std 29, new picture 2027x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2028 vs 2028 +parquet size 30.38 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 80.56 MB; whole cell dir 82.3 MB +RESULT: ALL PASS diff --git a/N025/go2_arm/dr_off/seed_1034/report.json b/N025/go2_arm/dr_off/seed_1034/report.json new file mode 100644 index 0000000000000000000000000000000000000000..c4522eb29cf78dee9b976335aec5f5bfbb570cb6 --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1034/report.json @@ -0,0 +1,2399 @@ +{ + "task": "N025", + "agent_id": null, + "embodiment": "go2_arm", + "level": "easy", + "scene_seed": 1034, + "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)", + "config": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/src/magicsim/Collect/Task/MobileAssembly/Conf/n025_wedge_shim.yaml", + "full_success": true, + "failure_reason": null, + "dr": { + "seed": 1034, + "wedge": { + "dx": -0.07293, + "dy": 0.02716, + "yaw_deg": 1.71087 + }, + "shim_board": { + "dx": 0.01633, + "dy": 0.02171, + "yaw_deg": -1.09364 + }, + "wedge_mass": 0.02188, + "light": 876.78989, + "spawn": { + "dx": 0.12245, + "dy": 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There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is in front of the wedge. The gray table B is to the right of the shim board. The shim board is on top of the gray table B. The shim board is to the left of the gray table B. The wedge is on top of the gray table A. The wedge is behind the gray table A. The scene is viewed from front-right, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [shim board]\n\n\n[wedge]A]\n\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationAssembly", + "instruction": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.", + "template_id": -1, + "slots": { + "obj": 1.5707963267948966, + "support": null + }, + "generic_instruction": "Stationassembly the 1.5707963267948966.", + "task_id": "N025", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0547": { + "frame_idx": 547, + "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + 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wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1081": { + "frame_idx": 1081, + "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_1090": { + "frame_idx": 1090, + "caption": "Working on the small wedge; the right gripper is below the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1319": { + "frame_idx": 1319, 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/dev/null +++ b/N025/go2_arm/dr_off/seed_1034/stationassembly/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,348 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationassembly/000", + "task_type": "StationAssembly", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -2.0, + 1.5, + 0.23 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.78, + 0.72, + 0.62 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + } + }, + "type_specific": {} + } + ], + "table_B": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.2, + 3.0, + 0.23 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.62, + 0.72, + 0.78 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + } + }, + "type_specific": {} + } + ], + "shim_board": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MobileAssembly/shim_board_a05/Object.usd", + "pose": { + "pos": [ + 1.2163300514221191, + 3.1717100143432617, + 0.4300000071525574 + ], + "ori": [ + -0.7003262042999268, + 0.0, + 0.0, + 0.7138229608535767 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "collision": true, + "fixed_base": true, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.05235988274216652 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "wedge": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MobileAssembly/wedge_a05/Object.usd", + "pose": { + "pos": [ + -2.072930097579956, + 1.4271600246429443, + 0.4300000071525574 + ], + "ori": [ + 0.6964712142944336, + 1.4975666999816895e-06, + 1.4659017324447632e-06, + 0.7175847887992859 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.02188, + "physics_material": { + "static_friction": 0.8, + "dynamic_friction": 0.7, + 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"cameras": { + "head": [ + [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726, + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + ], + "wrist": [ + [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587, + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N025/go2_arm/dr_off/seed_1034/stationassembly/000/sim_info/0/sim_states.npz b/N025/go2_arm/dr_off/seed_1034/stationassembly/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..d5dc02fc6b72c396d9fd682b1d739ba699a2cd69 --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1034/stationassembly/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:492138af95c0ada61b194c81f16fae228d1605058e0505a8fdf3d1a9f6a90a3a +size 929088 diff --git a/N025/go2_arm/dr_off/seed_1034/stationassembly/000/sim_info/magicsim_manifest.json b/N025/go2_arm/dr_off/seed_1034/stationassembly/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..ce644228e9f89bba75fab9a0521c249a4eb76f66 --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1034/stationassembly/000/sim_info/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 05:19:59" + }, + "embodiment": { + "robots": [ + { + "name": "Go2Plus", + "cfg": "Go2PlusCfg", + "type": "mobilemanip", + "joint_names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 12, + "nan_policy": "from_raw", + "segments": [ + { + "name": "Go2Plus.base_action", + "start": 0, + "end": 4, + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3" + ], + "source": "Go2UnifiedLocomotionAction", + "names_source": "fallback" + }, + { + "name": "Go2Plus.arm_action", + "start": 4, + "end": 11, + "names": [ + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z" + ], + "source": "Go2PlusCuroboIKAction", + "names_source": "pose_layout" + }, + { + "name": "Go2Plus.eef_action", + "start": 11, + "end": 12, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 26, + "segments": [ + { + "name": "Go2Plus.joint_pos", + "start": 0, + "end": 24, + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23" + ], + "source": "ObservationManager", + "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)" + }, + { + "name": "Go2Plus.gripper_pos", + "start": 24, + "end": 26, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 20, + "segments": [ + { + "name": "Go2Plus.joint_vel", + "start": 0, + "end": 20, + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726 + ], + "quat": [ + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587 + ], + "quat": [ + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + } + }, + "generated_run": { + "run_id": "stationassembly/000", + "task_type": "StationAssembly" + } +} \ No newline at end of file diff --git a/N025/go2_arm/dr_on/seed_2028/check.json b/N025/go2_arm/dr_on/seed_2028/check.json new file mode 100644 index 0000000000000000000000000000000000000000..5aafad687f2e0345a2f72e1b31d17db9b7e6bb51 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2028/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1674 rows vs ceil(3347/2) = 1674" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..3377, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "22.50 MB, 1674 frames at 25 fps, mean luma 88..134, std 27, new picture 1673x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1674 vs 1674" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "45.99 MB, 1674 frames at 25 fps, mean luma 98..167, std 33, new picture 1673x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1674 vs 1674" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N025/go2_arm/dr_on/seed_2028/check.txt b/N025/go2_arm/dr_on/seed_2028/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..a982a73020b1a2a0e7b46fdd5ba882e26e6c9a4f --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2028/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_go2_on_2028/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_go2_on_2028/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1674 videos 2 robot_type Go2PlusCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 1674 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.' +rows 1674 at dataset fps 25 = 66.96 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1674 rows vs ceil(3347/2) = 1674 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..3377, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 22.50 MB, 1674 frames at 25 fps, mean luma 88..134, std 27, new picture 1673x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1674 vs 1674 +[PASS] video observation.images.wrist decodes, 640x480, not black: 45.99 MB, 1674 frames at 25 fps, mean luma 98..167, std 33, new picture 1673x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1674 vs 1674 +parquet size 19.13 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 87.87 MB; whole cell dir 89.4 MB +RESULT: ALL PASS diff --git a/N025/go2_arm/dr_on/seed_2028/report.json b/N025/go2_arm/dr_on/seed_2028/report.json new file mode 100644 index 0000000000000000000000000000000000000000..5e52481ecb99af29d6724779d2dd2172dcdf7be4 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2028/report.json @@ -0,0 +1,2089 @@ +{ + "task": "N025", + "agent_id": null, + "embodiment": "go2_arm", + "level": "easy", + "scene_seed": 2028, + "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)", + "config": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/src/magicsim/Collect/Task/MobileAssembly/Conf/n025_wedge_shim.yaml", + "full_success": true, + "failure_reason": null, + "dr": { + "seed": 2028, + "wedge": { + "dx": -0.05279, + "dy": 0.03271, + "yaw_deg": 3.25875 + }, + "shim_board": { + "dx": -0.062, + "dy": -0.01929, + "yaw_deg": -1.93797 + }, + "wedge_mass": 0.03554, + "light": 1198.75976, + "spawn": { + "dx": -0.05736, + "dy": 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There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is in front of the wedge. The gray table B is to the right of the shim board. The shim board is on top of the gray table B. The shim board is to the left of the gray table B. The wedge is on top of the gray table A. The wedge is behind the gray table A. The scene is viewed from front-right, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [shim board]\n\n\n[wedge]A]\n\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationAssembly", + "instruction": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.", + "template_id": -1, + "slots": { + "obj": 1.5707963267948966, + "support": null + }, + "generic_instruction": "Stationassembly the 1.5707963267948966.", + "task_id": "N025", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0571": { + "frame_idx": 571, + "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + 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wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0995": { + "frame_idx": 995, + "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_1008": { + "frame_idx": 1008, + "caption": "Working on the small wedge; the right gripper is below the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1339": { + "frame_idx": 1339, 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newline at end of file diff --git a/N025/go2_arm/dr_on/seed_2028/stationassembly/000/lerobot_v21/meta/info.json b/N025/go2_arm/dr_on/seed_2028/stationassembly/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..54317182e2cef72fce22cd88ea4cc5b31998e1b6 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2028/stationassembly/000/lerobot_v21/meta/info.json @@ -0,0 +1,296 @@ +{ + "codebase_version": "v2.1", + "robot_type": "Go2PlusCfg", + "total_episodes": 1, + "total_frames": 1674, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 12 + ], + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + 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"bound_prims": 1 + } + ] + } + ] +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_on/seed_2026/check.json b/N025/sawyer_umi/dr_on/seed_2026/check.json new file mode 100644 index 0000000000000000000000000000000000000000..4e3f1d5af75b0accb7d812ed19a655082d594c65 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2026/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1355 rows vs ceil(2710/2) = 1355" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..2739, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "21.24 MB, 1355 frames at 25 fps, mean luma 72..117, std 49, new picture 1354x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1355 vs 1355" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "22.28 MB, 1355 frames at 25 fps, mean luma 88..151, std 41, new picture 1354x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1355 vs 1355" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_on/seed_2026/check.txt b/N025/sawyer_umi/dr_on/seed_2026/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..884eb35579a4c4f434fb00be0d1892b0088a75ab --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2026/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_saw_on_2026_r1/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_saw_on_2026_r1/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1355 videos 2 robot_type RidgebackSawyerUmiCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 1355 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.' +rows 1355 at dataset fps 25 = 54.20 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1355 rows vs ceil(2710/2) = 1355 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..2739, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 21.24 MB, 1355 frames at 25 fps, mean luma 72..117, std 49, new picture 1354x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1355 vs 1355 +[PASS] video observation.images.wrist decodes, 640x480, not 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of file diff --git a/N032/go2_arm/dr_off/seed_1027/check.json b/N032/go2_arm/dr_off/seed_1027/check.json new file mode 100644 index 0000000000000000000000000000000000000000..658ee049776a9d4de7f5bad6c47d0dcd4ffc3764 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1027/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1764 rows vs ceil(3527/2) = 1764" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..3627, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "15.26 MB, 1764 frames at 25 fps, mean luma 100..142, std 28, new picture 1763x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1764 vs 1764" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "32.17 MB, 1764 frames at 25 fps, mean luma 102..175, std 30, new picture 1763x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1764 vs 1764" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationpuzzle/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N032/go2_arm/dr_off/seed_1027/check.txt b/N032/go2_arm/dr_off/seed_1027/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..57ec883937d96572e0414e30021468155c6b7987 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1027/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_go2_off_1027/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_go2_off_1027/out/rec/stationpuzzle/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1764 videos 2 robot_type Go2PlusCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 1764 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.' +rows 1764 at dataset fps 25 = 70.56 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1764 rows vs ceil(3527/2) = 1764 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..3627, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 15.26 MB, 1764 frames at 25 fps, mean luma 100..142, std 28, new picture 1763x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1764 vs 1764 +[PASS] video observation.images.wrist decodes, 640x480, not black: 32.17 MB, 1764 frames at 25 fps, mean luma 102..175, std 30, new picture 1763x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1764 vs 1764 +parquet size 6.81 MB +[PASS] sim_info present: rec/stationpuzzle/000/sim_info +dataset size 54.53 MB; whole cell dir 56.5 MB +RESULT: ALL PASS diff --git a/N032/go2_arm/dr_off/seed_1027/rec/stationpuzzle/000/completed/0.json b/N032/go2_arm/dr_off/seed_1027/rec/stationpuzzle/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..8ccdef7d6fe05159c409af74707fd6bc60bede10 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1027/rec/stationpuzzle/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationpuzzle/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N032/go2_arm/dr_off/seed_1027/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/go2_arm/dr_off/seed_1027/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..f204c936b5980c3b961a5c83af8cc6e2e1d93dcd --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1027/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a516fdc3cc039dd6e5682c1b8fd5b68530135fd6f5fd51f146cae7be974be5e1 +size 6814448 diff --git a/N032/go2_arm/dr_off/seed_1027/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl b/N032/go2_arm/dr_off/seed_1027/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..013d9051a6e740f3e67d723cd118c6d66fc3b8d0 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1027/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap."], "length": 1764, "magicsim/control_steps": 3527, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a small gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is to the left of the tile. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is in front of the gray board 0. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is to the left of the gray table B. The scene is viewed from front, at table height."} diff --git a/N032/go2_arm/dr_off/seed_1027/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/go2_arm/dr_off/seed_1027/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..04b8bdc702843db1de7a559f634aae21ea6aca7c --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1027/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.17329689646625465, -0.002994751022883655, 0.018812997059458644, 0.33775509628646766, 0.564049781078384, 0.40913863511768733, 0.6348806673538387, 0.060902444611445, -0.6041779999627548, 0.4546160467640579, 0.1298143042878685, 0.42970521541950113], "std": [0.15363731852781307, 0.021801104193631713, 0.32773842595649505, 0.026218012232428256, 1.3777836497728249, 1.4744081912517557, 0.051410738556953293, 0.1129302285152677, 0.24060883984887005, 0.5749799600271635, 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"caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a small gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is to the left of the tile. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is in front of the gray board 0. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is to the left of the gray table B. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[cand O][tile]\n\n\n\n [picture cap]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationPuzzle", + "instruction": "Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.", + "template_id": -1, + "slots": { + "obj": 1.5169742030281803, + "support": null + }, + "generic_instruction": "Stationpuzzle the 1.5169742030281803.", + "task_id": "N032", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_1336": { + "frame_idx": 1336, + "caption": "Computing a grasp pose for the small tile; the right gripper is below and to the left of and in front of the tile.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1364": { + "frame_idx": 1364, + "caption": "Working on the small tile; the right gripper is below and to the left of and in front of the tile.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1656": { + "frame_idx": 1656, + "caption": "Computing a grasp pose for the small tile; the right gripper is below and to the left of and in front of the tile.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1670": { + "frame_idx": 1670, + "caption": "Pre-grasping the small tile, servoing the arm toward it; the right gripper is below and to the left of 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"skill": "Grasp", + "phase": "close_gripper", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1846": { + "frame_idx": 1846, + "caption": "Lifting the tile away with the gripper; the right gripper is below the tile.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "ParallelGripper", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1847": { + "frame_idx": 1847, + "caption": "Lifting the tile away with the arm; the right gripper is below the tile.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1909": { + "frame_idx": 1909, + "caption": "Done — the small tile is grasped; the right gripper is below the tile.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + } + } + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N032/go2_arm/dr_off/seed_1027/rec/stationpuzzle/000/lerobot_v21/meta/info.json b/N032/go2_arm/dr_off/seed_1027/rec/stationpuzzle/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..d8c09c9ee23246b108837a02f9b9bfc90665af90 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1027/rec/stationpuzzle/000/lerobot_v21/meta/info.json @@ -0,0 +1,350 @@ +{ + "codebase_version": "v2.1", + "robot_type": "Go2PlusCfg", + "total_episodes": 1, + "total_frames": 1764, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 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} +} \ No newline at end of file diff --git a/N032/go2_arm/dr_off/seed_1027/rec/stationpuzzle/000/lerobot_v21/meta/magicsim_manifest.json b/N032/go2_arm/dr_off/seed_1027/rec/stationpuzzle/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..7f2b9a55436f393bf7c5362e8820941c033ede24 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1027/rec/stationpuzzle/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,290 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 05:17:23" + }, + "embodiment": { + "robots": [ + { + "name": "Go2Plus", + "cfg": "Go2PlusCfg", + "type": "mobilemanip", + "joint_names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + 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"pos": [ + -0.074987, + 0.005289, + 0.045821 + ], + "ori": [ + 179.3135, + -20.212, + 88.9402 + ], + "focal_length": 1.8517500162124634, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4393036365509033 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/Go2Plus/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32", + "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32", + "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1107.8, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 46.2 + } +} diff --git a/N032/go2_arm/dr_on/seed_2028/check.json b/N032/go2_arm/dr_on/seed_2028/check.json new file mode 100644 index 0000000000000000000000000000000000000000..7c6b238479550e8ad412f51e88627218b0d8d781 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2028/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1739 rows vs ceil(3478/2) = 1739" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..3577, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "26.25 MB, 1739 frames at 25 fps, mean luma 82..128, std 34, new picture 1738x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1739 vs 1739" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "58.06 MB, 1739 frames at 25 fps, mean luma 89..161, std 35, new picture 1738x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1739 vs 1739" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationpuzzle/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N032/go2_arm/dr_on/seed_2028/check.txt b/N032/go2_arm/dr_on/seed_2028/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..2daf204bec998d363630eed0d9c0b7a61730dc78 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2028/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_go2_on_2028/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_go2_on_2028/out/rec/stationpuzzle/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1739 videos 2 robot_type Go2PlusCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 1739 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.' +rows 1739 at dataset fps 25 = 69.56 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1739 rows vs ceil(3478/2) = 1739 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..3577, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 26.25 MB, 1739 frames at 25 fps, mean luma 82..128, std 34, new picture 1738x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1739 vs 1739 +[PASS] video observation.images.wrist decodes, 640x480, not black: 58.06 MB, 1739 frames at 25 fps, mean luma 89..161, std 35, new picture 1738x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1739 vs 1739 +parquet size 6.57 MB +[PASS] sim_info present: rec/stationpuzzle/000/sim_info +dataset size 91.14 MB; whole cell dir 93.1 MB +RESULT: ALL PASS diff --git a/N032/go2_arm/dr_on/seed_2028/rec/stationpuzzle/000/completed/0.json b/N032/go2_arm/dr_on/seed_2028/rec/stationpuzzle/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..8ccdef7d6fe05159c409af74707fd6bc60bede10 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2028/rec/stationpuzzle/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationpuzzle/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N032/go2_arm/dr_on/seed_2028/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/go2_arm/dr_on/seed_2028/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..1b6dde9af2852b4d095baa26f31d440ced812c38 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2028/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fdf245ed8392f71184757db1d663e2b62fdda6c944d0b487980f78f8d93cc143 +size 6565226 diff --git a/N032/go2_arm/dr_on/seed_2028/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl b/N032/go2_arm/dr_on/seed_2028/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..21fb768de5b2191744fa33763ed5837c63c052e3 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2028/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap."], "length": 1739, "magicsim/control_steps": 3478, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a small gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is to the left of the tile. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is in front of the gray board 0. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is to the left of the gray table B. The scene is viewed from front, at table height."} diff --git a/N032/go2_arm/dr_on/seed_2028/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/go2_arm/dr_on/seed_2028/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6d087f63dd3e0147821b5da3969dc86e72aa1649 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2028/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.16426214512679652, -0.0033658123315408904, 0.015759573454964346, 0.33737204714435626, 0.557938629368244, 0.5252511986842472, 0.6338748289738119, 0.06214109668293952, -0.6188994902965322, 0.45194439259328295, 0.13363694495458828, 0.4416331224841863], "std": [0.15304046901082383, 0.023047068665061305, 0.34688828188383924, 0.026501225975783853, 1.2957109886524154, 1.4134117383587539, 0.0517156910492686, 0.11116185812169284, 0.22554582895945335, 0.5669227205228157, 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"go2plus", + "type": "mobilemanip", + "noun": "Unitree Go2 EDU quadruped with a Piper arm", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.4, + -2.2, + 0.44999999999999996 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a small gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is to the left of the tile. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is in front of the gray board 0. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is to the left of the gray table B. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [cand O]]\n\n\n\n [picture cap]\n\n\n\n[robot]" + }, + "task": { + "task_type": "StationPuzzle", + "instruction": "Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.", + "template_id": -1, + "slots": { + "obj": 1.5731431299872103, + "support": null + }, + "generic_instruction": "Stationpuzzle the 1.5731431299872103.", + "task_id": "N032", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_1269": { + "frame_idx": 1269, + "caption": "Computing a grasp pose for the small tile; the right gripper is below and to the left of and in front of the tile.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1296": { + "frame_idx": 1296, + "caption": "Working on the small tile; the right gripper is below and to the left of and in front of the tile.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1431": { + "frame_idx": 1431, + "caption": "Working on the small tile; the right gripper is below and in front of the tile.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_1444": { + "frame_idx": 1444, + "caption": "Working on the small tile; the right gripper is below and to the left of and in front of the tile.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1588": { + "frame_idx": 1588, + "caption": "Computing a grasp pose for the small tile; the right gripper is below and to the left of and in front of the tile.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1602": { + "frame_idx": 1602, + "caption": "Pre-grasping the small tile, servoing the arm toward it; the right gripper is below and to the left of and in front of the tile.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + 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below and in front of the tile.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_1718": { + "frame_idx": 1718, + "caption": "Closing the right gripper on the tile; the right gripper is below and in front of the tile.", + "skill": "Grasp", + "phase": "close_gripper", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_1719": { + "frame_idx": 1719, + "caption": "Closing the right gripper on the tile; the right gripper is below the tile.", + "skill": "Grasp", + "phase": "close_gripper", + "skill_state": "running", + "planner": "ParallelGripper", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1778": { + "frame_idx": 1778, + "caption": "Lifting the tile away with the gripper; the right gripper is below the tile.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "ParallelGripper", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1779": { + "frame_idx": 1779, + "caption": "Lifting the tile away with the arm; the right gripper is below the tile.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1841": { + "frame_idx": 1841, + "caption": "Done — the small tile is grasped; the right gripper is below the tile.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + } + } + 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"lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/Go2Plus/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32", + "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32", + "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1198.2, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 34.0 + } +} diff --git a/N032/stretch3/dr_on/seed_2037/check.json b/N032/stretch3/dr_on/seed_2037/check.json new file mode 100644 index 0000000000000000000000000000000000000000..78c2dbb36a552879c3316f1bb89f7ead7c9bfeeb --- /dev/null +++ b/N032/stretch3/dr_on/seed_2037/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2650 rows vs ceil(5299/2) = 2650" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5399, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "146.62 MB, 2650 frames at 25 fps, mean luma 95..130, std 28, new picture 2649x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2650 vs 2650" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "101.69 MB, 2650 frames at 25 fps, mean luma 96..150, std 33, new picture 2649x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2650 vs 2650" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationpuzzlestretch/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N032/stretch3/dr_on/seed_2037/check.txt b/N032/stretch3/dr_on/seed_2037/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..a5906e76e27d94ac9aabe90a8751db77505f157e --- /dev/null +++ b/N032/stretch3/dr_on/seed_2037/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_str_on_2037/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_str_on_2037/out/rec/stationpuzzlestretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2650 videos 2 robot_type HelloRobotCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 2650 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] +[PASS] task text = MobileBench instruction: task_index 0: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.' +rows 2650 at dataset fps 25 = 106.00 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2650 rows vs ceil(5299/2) = 2650 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5399, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 146.62 MB, 2650 frames at 25 fps, mean luma 95..130, std 28, new picture 2649x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2650 vs 2650 +[PASS] video observation.images.wrist decodes, 640x480, not black: 101.69 MB, 2650 frames at 25 fps, mean luma 96..150, std 33, new picture 2649x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2650 vs 2650 +parquet size 4.31 MB +[PASS] sim_info present: rec/stationpuzzlestretch/000/sim_info +dataset size 252.83 MB; whole cell dir 254.8 MB +RESULT: ALL PASS diff --git a/N032/stretch3/dr_on/seed_2037/rec/stationpuzzlestretch/000/completed/0.json b/N032/stretch3/dr_on/seed_2037/rec/stationpuzzlestretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..2b614a937da99960d58d2a321fefcbc4aa6cfa5e --- /dev/null +++ b/N032/stretch3/dr_on/seed_2037/rec/stationpuzzlestretch/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationpuzzlestretch/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N032/stretch3/dr_on/seed_2037/rec/stationpuzzlestretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/stretch3/dr_on/seed_2037/rec/stationpuzzlestretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..d980e2f67a0ba7d01d56f83b456d3874dea5f6af --- /dev/null +++ b/N032/stretch3/dr_on/seed_2037/rec/stationpuzzlestretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:31fbfc5d50ef31fc1a8c4629515be32ca6849f90d51605ca517d8dc74709ef89 +size 4310719 diff --git a/N032/stretch3/dr_on/seed_2037/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes.jsonl b/N032/stretch3/dr_on/seed_2037/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..628337fcd2887ea6c503d1e550e2a4bac6fa5efa --- /dev/null +++ b/N032/stretch3/dr_on/seed_2037/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap."], "length": 2650, "magicsim/control_steps": 5299, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a small gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is in front of the cand O. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is to the right of the gray board 1. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is behind the gray table B. The scene is viewed from front, slightly above table height."} diff --git a/N032/stretch3/dr_on/seed_2037/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/stretch3/dr_on/seed_2037/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2e1f66f8c468077e5061cac2575bea58e09cd5b3 --- /dev/null +++ b/N032/stretch3/dr_on/seed_2037/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.03501467907906703, 0.0, 0.024541346485867113, 0.3132066872252046, 0.44170704066753386, 0.7148005822469603, -0.31215047888760894, -0.00312474626852416, -0.07076979567565889, -0.01245215968703324, 0.43735849056603776], "std": [0.17829028500060673, 0.0, 0.22747424816530046, 1.1682947586138752, 1.5363944648309684, 0.15235983290627253, 0.5048821909458963, 0.3341737747719646, 0.37602193131308115, 0.6240337716047522, 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"lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a small gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is in front of the cand O. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is to the right of the gray board 1. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is behind the gray table B. The scene is viewed from front, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[cand O]]\n\n\n\n [picture cap]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationPuzzleStretch", + "instruction": "Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.", + "template_id": -1, + "slots": { + "obj": 3.1146604046837547, + "support": null + }, + "generic_instruction": "Stationpuzzlestretch the 3.1146604046837547.", + "task_id": "N032", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": {} + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N032/stretch3/dr_on/seed_2037/rec/stationpuzzlestretch/000/lerobot_v21/meta/info.json b/N032/stretch3/dr_on/seed_2037/rec/stationpuzzlestretch/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..79c7de2bcf0538fdee1cb7af4affb9e5311e122c --- /dev/null +++ b/N032/stretch3/dr_on/seed_2037/rec/stationpuzzlestretch/000/lerobot_v21/meta/info.json @@ -0,0 +1,333 @@ +{ + "codebase_version": "v2.1", + "robot_type": "HelloRobotCfg", + "total_episodes": 1, + "total_frames": 2650, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "arm_action_0", + "arm_action_1", + "arm_action_2", + 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"video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N032/stretch3/dr_on/seed_2037/rec/stationpuzzlestretch/000/lerobot_v21/meta/magicsim_manifest.json b/N032/stretch3/dr_on/seed_2037/rec/stationpuzzlestretch/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..970a913905f4d94ca85d7e5f3aa5989ee824753e --- /dev/null +++ b/N032/stretch3/dr_on/seed_2037/rec/stationpuzzlestretch/000/lerobot_v21/meta/magicsim_manifest.json @@ 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+ "fail_class_hint": null, + "distance_to_first_interaction": 2.649, + "interstation_path_lengths": [ + 4.517, + 3.031 + ], + "station_transition_order": [ + "A", + "B", + "A" + ], + "final_approach_pose": [ + -0.328, + -0.791, + 3.107 + ], + "regrasp_events": 1, + "control_ticks": 4903, + "wall_s": 1219.5, + "phase": "done", + "state": "success: task sequence complete", + "check": { + "tile": { + "held": false, + "dist_wrist": 0.663, + "err_across": 0.0001, + "err_along": 0.0006, + "yaw_err_deg": 1.5, + "tilt_deg": 0.0, + "z_err": 0.0, + "overlap": false, + "at_rest": true, + "in_notch": true + }, + "released": true, + "intruders": [], + "manipulation_success": true + }, + "route": [ + "A", + "B", + "A" + ], + "total_path_m": 12.37, + "planner_seeds": "default" + } + ], + "error": null, + "collect": { + "task": "N032", + "robot": "stretch3", + "visual_dr": true, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N032", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "1" + }, + "cameras": { + "head": { + "link": "Robot_0/base_link", + "pos": [ + 0.049771, + -0.002942, + 1.295723 + ], + "ori": [ + 0.0002, + -55.623, + -90.0 + ], + "focal_length": 2.73834228515625, + "horizontal_aperture": 2.1600000858306885, + "vertical_aperture": 1.62 + }, + "wrist": { + "link": "Robot_0/link_gripper_s3_body", + "pos": [ + 0.009, + 0.062939, + 0.056398 + ], + "ori": [ + -170.0021, + 0.0, + -179.9998 + ], + "focal_length": 1.280753493309021, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.44 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/HelloRobot/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/joint_effort:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_pos:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_vel:(1, 15):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1507.9, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 51.5 + } +} diff --git a/N032/stretch3/dr_on/seed_2038/check.json b/N032/stretch3/dr_on/seed_2038/check.json new file mode 100644 index 0000000000000000000000000000000000000000..6e50855eac8540e6eb449e0b654bb9461c6be639 --- /dev/null +++ b/N032/stretch3/dr_on/seed_2038/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2576 rows vs ceil(5151/2) = 2576" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5251, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "101.69 MB, 2576 frames at 25 fps, mean luma 67..103, std 24, new picture 2575x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2576 vs 2576" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "87.63 MB, 2576 frames at 25 fps, mean luma 71..148, std 38, new picture 2575x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2576 vs 2576" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationpuzzlestretch/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N032/stretch3/dr_on/seed_2038/check.txt b/N032/stretch3/dr_on/seed_2038/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..db1ba584ac0e5246935cbffd5ab8c27f04b5c258 --- /dev/null +++ b/N032/stretch3/dr_on/seed_2038/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_str_on_2038/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_str_on_2038/out/rec/stationpuzzlestretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2576 videos 2 robot_type HelloRobotCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 2576 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] +[PASS] task text = MobileBench instruction: task_index 0: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.' +rows 2576 at dataset fps 25 = 103.04 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2576 rows vs ceil(5151/2) = 2576 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5251, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 101.69 MB, 2576 frames at 25 fps, mean luma 67..103, std 24, new picture 2575x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2576 vs 2576 +[PASS] video observation.images.wrist decodes, 640x480, not black: 87.63 MB, 2576 frames at 25 fps, mean luma 71..148, std 38, new picture 2575x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2576 vs 2576 +parquet size 3.85 MB +[PASS] sim_info present: rec/stationpuzzlestretch/000/sim_info +dataset size 193.36 MB; whole cell dir 195.2 MB +RESULT: ALL PASS diff --git a/N032/stretch3/dr_on/seed_2038/rec/stationpuzzlestretch/000/completed/0.json b/N032/stretch3/dr_on/seed_2038/rec/stationpuzzlestretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..2b614a937da99960d58d2a321fefcbc4aa6cfa5e --- /dev/null +++ b/N032/stretch3/dr_on/seed_2038/rec/stationpuzzlestretch/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationpuzzlestretch/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N032/stretch3/dr_on/seed_2038/rec/stationpuzzlestretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/stretch3/dr_on/seed_2038/rec/stationpuzzlestretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..319c0db698620bc2fa7c06da3db1f149fd10d20b --- /dev/null +++ b/N032/stretch3/dr_on/seed_2038/rec/stationpuzzlestretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4cb5227dccc1aadf5b43849bc6ce42bac3dc40e65cf32871ec638d61facf2a1f +size 3852964 diff --git a/N032/stretch3/dr_on/seed_2038/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes.jsonl b/N032/stretch3/dr_on/seed_2038/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6f1e2143d9c42737fd434185eaeb593af5f7a0e0 --- /dev/null +++ b/N032/stretch3/dr_on/seed_2038/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap."], "length": 2576, "magicsim/control_steps": 5151, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a small gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is in front of the cand O. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is to the right of the gray board 1. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is behind the gray table B. The scene is viewed from front, slightly above table height."} diff --git a/N032/stretch3/dr_on/seed_2038/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/stretch3/dr_on/seed_2038/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9ccef38c16e9e3a1bc5750e905f15650c55e63e6 --- /dev/null +++ b/N032/stretch3/dr_on/seed_2038/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.0315943897570923, 0.0, 0.025603389457303463, 0.1843824632500547, 0.3483031047999813, 0.7102596409480024, -0.30008932425378715, -0.01617306644642583, -0.06267157892400414, 0.05083435442391204, 0.4375], "std": [0.17706193920638733, 0.0, 0.20083591848985985, 1.2887543427548438, 1.3512366613592883, 0.15438379748711556, 0.5084381111435986, 0.31592485909961204, 0.39629702519731536, 0.6227388967372787, 0.49607837082461076], "min": 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"robots": [ + { + "name": "HelloRobot", + "model": "hellorobot", + "type": "mobilemanip", + "noun": "Hello Robot Stretch 3 mobile manipulator", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.4, + -2.2, + 0.06 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a small gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is in front of the cand O. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is to the right of the gray board 1. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is behind the gray table B. The scene is viewed from front, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[cand O]e]\n\n\n\n [picture cap]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationPuzzleStretch", + "instruction": "Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.", + "template_id": -1, + "slots": { + "obj": 3.1488806831508374, + "support": null + }, + "generic_instruction": "Stationpuzzlestretch the 3.1488806831508374.", + "task_id": "N032", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": {} + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N032/stretch3/dr_on/seed_2038/rec/stationpuzzlestretch/000/lerobot_v21/meta/info.json 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+ ], + "focal_length": 1.280753493309021, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.44 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/HelloRobot/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/joint_effort:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_pos:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_vel:(1, 15):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1185.6, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 33.7 + } +} diff --git a/N033/go2_arm/dr_off/seed_1027/check.json b/N033/go2_arm/dr_off/seed_1027/check.json new file mode 100644 index 0000000000000000000000000000000000000000..fe5d8a557735dc63648fd658663ed01dd7a20689 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1027/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1376 rows vs ceil(2752/2) = 1376" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..2851, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "10.80 MB, 1376 frames at 25 fps, mean luma 108..142, std 17, new picture 1375x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1376 vs 1376" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "23.47 MB, 1376 frames at 25 fps, mean luma 111..174, std 28, new picture 1375x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1376 vs 1376" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationring/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1027/check.txt b/N033/go2_arm/dr_off/seed_1027/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..3dd772d953847b19e73e060febb22f0c2ec379ec --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1027/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_go2_off_1027/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_go2_off_1027/out/rec/stationring/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1376 videos 2 robot_type Go2PlusCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 1376 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.' +rows 1376 at dataset fps 25 = 55.04 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1376 rows vs ceil(2752/2) = 1376 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..2851, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 10.80 MB, 1376 frames at 25 fps, mean luma 108..142, std 17, new picture 1375x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1376 vs 1376 +[PASS] video observation.images.wrist decodes, 640x480, not black: 23.47 MB, 1376 frames at 25 fps, mean luma 111..174, std 28, new picture 1375x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1376 vs 1376 +parquet size 4.64 MB +[PASS] sim_info present: rec/stationring/000/sim_info +dataset size 39.17 MB; whole cell dir 40.6 MB +RESULT: ALL PASS diff --git a/N033/go2_arm/dr_off/seed_1027/rec/stationring/000/completed/0.json b/N033/go2_arm/dr_off/seed_1027/rec/stationring/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..c24e4e92ce410caf19b3ef731d95205d50917856 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1027/rec/stationring/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationring/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1027/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/go2_arm/dr_off/seed_1027/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..5b02c65e8128b3c0e7b569f62a7abda00c1df11f --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1027/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:551944d163a1efd53d598f4d0609432af40f23904c2a887b95d79677f60c6cfb +size 4642262 diff --git a/N033/go2_arm/dr_off/seed_1027/rec/stationring/000/lerobot_v21/meta/episodes.jsonl b/N033/go2_arm/dr_off/seed_1027/rec/stationring/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1d1d983fd4a5cb4fac34d59a5aeffb37658cab64 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1027/rec/stationring/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end."], "length": 1376, "magicsim/control_steps": 2752, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown rod stop. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is to the right of the brown rod stop. The brown rack back is in front of the gray peg 2. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is to the right of the brown rod stop. The brown rod stop is to the left of the white rod s. The scene is viewed from front, at table height."} diff --git a/N033/go2_arm/dr_off/seed_1027/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/go2_arm/dr_off/seed_1027/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5420f7c9bdd990375e0b81c8443fd9a39c028ee1 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1027/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.1582316642269752, -0.001209755128298258, 0.02413533059988431, 0.35345487389713526, 0.5109060391090637, 0.5720325284529217, 0.6910168755972801, 0.16726926856046154, -0.5085072455342946, 0.8009806829396375, 0.11744460217291923, 0.47819767441860467], "std": [0.15841106034917865, 0.027172980287036193, 0.24990540128800687, 0.01645928838830686, 1.437292816262043, 1.694573537863223, 0.038025998165704414, 0.04692845316356569, 0.20085546113820876, 0.10759074610407034, 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gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown rod stop. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is to the right of the brown rod stop. The brown rack back is in front of the gray peg 2. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is to the right of the brown rod stop. The brown rod stop is to the left of the white rod s. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[rod stop]]\n\n\n\n [ring small]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationRing", + "instruction": "Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.", + "template_id": -1, + "slots": { + "obj": 1.5169742030281803, + "support": null + }, + "generic_instruction": "Stationring the 1.5169742030281803.", + "task_id": "N033", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0588": { + "frame_idx": 588, + "caption": "Computing a grasp pose for the small ring; the right gripper is below and to the left of and in front of the ring.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0614": { + "frame_idx": 614, + "caption": "Working on the small ring; the right gripper is below and to the left of and in front of the ring.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0887": { + "frame_idx": 887, + "caption": "Computing a grasp pose for the small ring; the right gripper is below and to the left of and in front of the ring.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0901": { + "frame_idx": 901, + "caption": "Pre-grasping the small ring, servoing the arm toward it; the right gripper is below and to the left of and in front of the ring.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0902": { + "frame_idx": 902, + "caption": "Pre-grasping the small ring, moving the arm toward it; the right gripper is below and to the left of and in front of the ring.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0955": { + "frame_idx": 955, + "caption": "Grasping the small ring, moving the arm in to make contact; the right gripper is below and to the left of and in front of the ring.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1017": { + "frame_idx": 1017, + "caption": "Closing the right gripper on the ring; the right gripper is below and to the left of and in front of the ring.", + "skill": "Grasp", + "phase": "close_gripper", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1018": { + "frame_idx": 1018, + "caption": "Closing the right gripper on the ring; the right gripper is below and to the left of the ring.", + "skill": "Grasp", + "phase": "close_gripper", + "skill_state": "running", + "planner": "ParallelGripper", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1077": { + "frame_idx": 1077, + "caption": "Lifting the ring away with the gripper; the right gripper is below and to the left of the ring.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "ParallelGripper", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1078": { + "frame_idx": 1078, + "caption": "Lifting the ring away with the arm; the right gripper is below and to the left of the ring.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1138": { + "frame_idx": 1138, + "caption": "Done — the small ring is grasped; the right gripper is below and to the left of the ring.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": 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0.045821 + ], + "ori": [ + 179.3135, + -20.212, + 88.9402 + ], + "focal_length": 1.8517500162124634, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4393036365509033 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/Go2Plus/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32", + "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32", + "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32" + ], + "n_success": 1, + "elapsed_s": 859.4, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 24.6 + } +} diff --git a/N033/stretch3/dr_off/seed_1034/check.json b/N033/stretch3/dr_off/seed_1034/check.json new file mode 100644 index 0000000000000000000000000000000000000000..3157e46396a7b5724b20101ac2bd4205336e5682 --- /dev/null +++ b/N033/stretch3/dr_off/seed_1034/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2290 rows vs ceil(4579/2) = 2290" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4679, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "22.01 MB, 2290 frames at 25 fps, mean luma 116..155, std 12, new picture 2289x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2290 vs 2290" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "47.10 MB, 2290 frames at 25 fps, mean luma 112..155, std 28, new picture 2289x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2290 vs 2290" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationringstretch/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N033/stretch3/dr_off/seed_1034/check.txt b/N033/stretch3/dr_off/seed_1034/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..5fb06a7d2698f0e9d3e14cc12fff78445bdb1a54 --- /dev/null +++ b/N033/stretch3/dr_off/seed_1034/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_str_off_1034/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_str_off_1034/out/rec/stationringstretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2290 videos 2 robot_type HelloRobotCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 2290 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.' +rows 2290 at dataset fps 25 = 91.60 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2290 rows vs ceil(4579/2) = 2290 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4679, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 22.01 MB, 2290 frames at 25 fps, mean luma 116..155, std 12, new picture 2289x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2290 vs 2290 +[PASS] video observation.images.wrist decodes, 640x480, not black: 47.10 MB, 2290 frames at 25 fps, mean luma 112..155, std 28, new picture 2289x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2290 vs 2290 +parquet size 3.44 MB +[PASS] sim_info present: rec/stationringstretch/000/sim_info +dataset size 72.77 MB; whole cell dir 74.3 MB +RESULT: ALL PASS diff --git a/N033/stretch3/dr_off/seed_1034/rec/stationringstretch/000/completed/0.json b/N033/stretch3/dr_off/seed_1034/rec/stationringstretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..fd3e4ff594cda366fc3a512d000e9a5e190a83f8 --- /dev/null +++ b/N033/stretch3/dr_off/seed_1034/rec/stationringstretch/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationringstretch/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N033/stretch3/dr_off/seed_1034/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/stretch3/dr_off/seed_1034/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..62e759fa654d7f747a302048f992b788b7edbc5e --- /dev/null +++ b/N033/stretch3/dr_off/seed_1034/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:682578b0a2b851991cad44fe5b356d15702f79edb005aaf9de363b6fcf2606c4 +size 3440895 diff --git a/N033/stretch3/dr_off/seed_1034/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl b/N033/stretch3/dr_off/seed_1034/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2b08f91556110a23703c13fce8a969ccbf63cb13 --- /dev/null +++ b/N033/stretch3/dr_off/seed_1034/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end."], "length": 2290, "magicsim/control_steps": 4579, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the ring. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table A is in front of the brown rack back. The gray table B is to the right of the brown rod stop. The brown rack back is to the left of the gray peg 1. The gray peg 2 is on top of the ring. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is to the right of the brown rod stop. The brown rod stop is to the left of the white rod s. The scene is viewed from front, slightly above table height."} diff --git a/N033/stretch3/dr_off/seed_1034/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/stretch3/dr_off/seed_1034/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cd8c776e6cc286282958a47d2af57a79b9a0a99e --- /dev/null +++ b/N033/stretch3/dr_off/seed_1034/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [-0.0065319288546406545, 0.0, 0.029541211696870334, 0.5793910711938637, 0.8891589243241533, 0.7402238919224802, -0.29023566297751113, -0.010469389465675688, -0.08837082810619516, -0.03505968407251949, 0.434061135371179], "std": [0.15686409341296514, 0.0, 0.19614753049707917, 1.4291922149816618, 1.6832336263454044, 0.0994130208501286, 0.5461957798135019, 0.3585210371808133, 0.44421259627543846, 0.5314347549132769, 0.49563299540230416], 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] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "HelloRobot.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HelloRobotBaseAction", + "names_source": "_joint_names" + }, + { + "name": "HelloRobot.arm_action", + "start": 3, + "end": 10, + "names": [ + "arm_action_0", + "arm_action_1", + "arm_action_2", + "arm_action_3", + "arm_action_4", + "arm_action_5", + "arm_action_6" + ], + "source": "HelloRobotIKAction", + "names_source": "fallback" + }, + { + "name": "HelloRobot.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "HelloRobot.joint_pos", + "start": 0, + "end": 15, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "joint_vel_layout": { + "dim": 15, + "segments": [ + { + "name": "HelloRobot.joint_vel", + "start": 0, + "end": 15, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 811.3606627541883, + 0.0, + 320.0 + ], + [ + 0.0, + 811.3606388722814, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 43.048473468183616, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.04977099969983101, + 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"default" + } + ], + "error": null, + "collect": { + "task": "N033", + "robot": "stretch3", + "visual_dr": false, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N033", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "0" + }, + "cameras": { + "head": { + "link": "Robot_0/base_link", + "pos": [ + 0.049771, + -0.002942, + 1.295723 + ], + "ori": [ + 0.0002, + -55.623, + -90.0 + ], + "focal_length": 2.73834228515625, + "horizontal_aperture": 2.1600000858306885, + "vertical_aperture": 1.62 + }, + "wrist": { + "link": "Robot_0/link_gripper_s3_body", + "pos": [ + 0.009, + 0.062939, + 0.056398 + ], + "ori": [ + -170.0021, + 0.0, + -179.9998 + ], + "focal_length": 1.280753493309021, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.44 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/HelloRobot/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/joint_effort:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_pos:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_vel:(1, 15):torch.float32" + ], + "n_success": 1, + "elapsed_s": 2311.5, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 52.6 + } +} diff --git a/N033/stretch3/dr_on/seed_2039/check.json b/N033/stretch3/dr_on/seed_2039/check.json new file mode 100644 index 0000000000000000000000000000000000000000..0e11ac52dae07ff790c3b45c54a7fb8bf555c317 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2039/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2209 rows vs ceil(4417/2) = 2209" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4517, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "85.68 MB, 2209 frames at 25 fps, mean luma 96..128, std 15, new picture 2208x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2209 vs 2209" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "60.77 MB, 2209 frames at 25 fps, mean luma 80..126, std 27, new picture 2208x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2209 vs 2209" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationringstretch/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N033/stretch3/dr_on/seed_2039/check.txt b/N033/stretch3/dr_on/seed_2039/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..886ea56819962c3edd84ea0fa73c80cce085361a --- /dev/null +++ b/N033/stretch3/dr_on/seed_2039/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_str_on_2039/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_str_on_2039/out/rec/stationringstretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2209 videos 2 robot_type HelloRobotCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 2209 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.' +rows 2209 at dataset fps 25 = 88.36 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2209 rows vs ceil(4417/2) = 2209 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4517, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 85.68 MB, 2209 frames at 25 fps, mean luma 96..128, std 15, new picture 2208x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2209 vs 2209 +[PASS] video observation.images.wrist decodes, 640x480, not black: 60.77 MB, 2209 frames at 25 fps, mean luma 80..126, std 27, new picture 2208x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2209 vs 2209 +parquet size 3.22 MB +[PASS] sim_info present: rec/stationringstretch/000/sim_info +dataset size 149.89 MB; whole cell dir 151.4 MB +RESULT: ALL PASS diff --git a/N033/stretch3/dr_on/seed_2039/rec/stationringstretch/000/completed/0.json b/N033/stretch3/dr_on/seed_2039/rec/stationringstretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..fd3e4ff594cda366fc3a512d000e9a5e190a83f8 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2039/rec/stationringstretch/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationringstretch/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N033/stretch3/dr_on/seed_2039/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/stretch3/dr_on/seed_2039/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..945d1e93adf7e847a92992b1340f57b1d0d6ba2f --- /dev/null +++ b/N033/stretch3/dr_on/seed_2039/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:252ea2bbf0793ff76252d1b8ec73fb0304946c9502f82dc88b8f2c15bfea71ac +size 3224211 diff --git a/N033/stretch3/dr_on/seed_2039/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl b/N033/stretch3/dr_on/seed_2039/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f58c8b13b957cf49a3b1ee7eb68b8f1258f394a1 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2039/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end."], "length": 2209, "magicsim/control_steps": 4417, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the brown rod stop. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is to the right of the brown rod stop. The brown rack back is in front of the gray peg 2. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is to the right of the brown rod stop. The brown rod stop is to the left of the white rod s. The scene is viewed from front, slightly above table height."} diff --git a/N033/stretch3/dr_on/seed_2039/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/stretch3/dr_on/seed_2039/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d61f6c85ccb15b67b11cb564588b28f845cbc9bd --- /dev/null +++ b/N033/stretch3/dr_on/seed_2039/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [-0.005579660753704752, 0.0, 0.028205441756004482, 0.4347050475178395, 0.8229973115138254, 0.7400846884713663, -0.3352133010210868, -0.02506485068839168, -0.10341258245108921, 0.007823901294278223, 0.425531914893617], "std": [0.15502230296277725, 0.0, 0.20371366159448873, 1.1744817006232786, 1.7404605389337964, 0.10020976603433311, 0.5456311246122131, 0.35461376996262534, 0.4305654171924527, 0.5171049364351389, 0.4944234058988155], "min": 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There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is to the right of the brown rod stop. The brown rack back is in front of the gray peg 2. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is to the right of the brown rod stop. The brown rod stop is to the left of the white rod s. The scene is viewed from front, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[rod stop]\n\n\n\n [ring small]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationRingStretch", + "instruction": "Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.", + "template_id": -1, + "slots": { + "obj": 3.173028455197742, + "support": null + }, + "generic_instruction": "Stationringstretch the 3.173028455197742.", + "task_id": "N033", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": {} + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N033/stretch3/dr_on/seed_2039/rec/stationringstretch/000/lerobot_v21/meta/info.json 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"/robot_state[0]/HelloRobot/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/joint_effort:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_pos:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_vel:(1, 15):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1020.8, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 27.4 + } +} diff --git a/N034/go2_arm/dr_off/seed_1029/check.json b/N034/go2_arm/dr_off/seed_1029/check.json new file mode 100644 index 0000000000000000000000000000000000000000..1b9691c512f0fdb63f8b7ba42f1acced3534c6ee --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1029/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1947 rows vs ceil(3894/2) = 1947" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..3993, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "21.17 MB, 1947 frames at 25 fps, mean luma 97..141, std 24, new picture 1946x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1947 vs 1947" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "29.74 MB, 1947 frames at 25 fps, mean luma 93..161, std 23, new picture 1946x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1947 vs 1947" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationbookend/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_off/seed_1029/check.txt b/N034/go2_arm/dr_off/seed_1029/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..5b1e3765727dd1ea29a59a676ffee922cf91de1d --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1029/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_go2_off_1029/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_go2_off_1029/out/rec/stationbookend/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1947 videos 2 robot_type Go2PlusCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 1947 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.' +rows 1947 at dataset fps 25 = 77.88 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1947 rows vs ceil(3894/2) = 1947 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..3993, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 21.17 MB, 1947 frames at 25 fps, mean luma 97..141, std 24, new picture 1946x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1947 vs 1947 +[PASS] video observation.images.wrist decodes, 640x480, not black: 29.74 MB, 1947 frames at 25 fps, mean luma 93..161, std 23, new picture 1946x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1947 vs 1947 +parquet size 6.81 MB +[PASS] sim_info present: rec/stationbookend/000/sim_info +dataset size 57.98 MB; whole cell dir 59.7 MB +RESULT: ALL PASS diff --git a/N034/go2_arm/dr_off/seed_1029/rec/stationbookend/000/completed/0.json b/N034/go2_arm/dr_off/seed_1029/rec/stationbookend/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..92774b53003e83bf90b8dbc14d938d81cff5769c --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1029/rec/stationbookend/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationbookend/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N034/go2_arm/dr_off/seed_1029/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/go2_arm/dr_off/seed_1029/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..a414524f9afafec0238321a46fb4ad415463a383 --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1029/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af7b4ed21f915d03ebec849e6c57895ab2ab3738c904f590a643cde634d64cb4 +size 6811535 diff --git a/N034/go2_arm/dr_off/seed_1029/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl b/N034/go2_arm/dr_off/seed_1029/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..107eca9be4214060fed68eb3496b573088ecc1fa --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1029/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 1947, "magicsim/control_steps": 3894, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown slot right. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot right. The gray plate is on top of the bookend. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height."} diff --git a/N034/go2_arm/dr_off/seed_1029/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/go2_arm/dr_off/seed_1029/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..11af035f336acb4524baf0bae3b12bce5f0f3981 --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1029/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.10450996488761338, -0.0008145372010671792, 0.01113662473864817, 0.3223660563620532, 0.9555534864534276, 1.3897676625172788, 0.6386704867811893, 0.09356702699526402, -0.4499231723099411, 0.8234072513132139, 0.06762089416203886, 0.6646122239342578], "std": [0.13765109508335685, 0.017293415564213967, 0.21223898944594488, 0.03249395333017276, 1.3267404228713893, 1.7081330565402517, 0.063385571488881, 0.05504240335462905, 0.2911627839152189, 0.12984033150509322, 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] + } + } + ], + "relations": [ + { + "subject": "table_A_1", + "relation": "left_of", + "object": "slot_right_1" + }, + { + "subject": "table_B_1", + "relation": "left_of", + "object": "bookend_1" + }, + { + "subject": "book_1", + "relation": "on_top_of", + "object": "slot_right_1" + }, + { + "subject": "plate_1", + "relation": "on_top_of", + "object": "bookend_1" + }, + { + "subject": "plate_1", + "relation": "left_of", + "object": "bookend_1" + }, + { + "subject": "bookend_1", + "relation": "right_of", + "object": "plate_1" + } + ], + "cameras": [ + { + "name": "head", + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 4.118836986624848, + -1.2693913665274152, + -0.30110664179420815 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + 0.0034545225363202814, + 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-0.08611861262827436, + 0.017148138726427706 + ] + } + } + ], + "robots": [ + { + "name": "Go2Plus", + "model": "go2plus", + "type": "mobilemanip", + "noun": "Unitree Go2 EDU quadruped with a Piper arm", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.4, + -2.2, + 0.44999999999999996 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown slot right. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot right. The gray plate is on top of the bookend. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [[pla[bookend]\n\n\n\n [slot [book]\n\n\n\n[robot]" + }, + "task": { + "task_type": "StationBookend", + "instruction": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.", + "template_id": -1, + "slots": { + "obj": 1.635076923208376, + "support": null + }, + "generic_instruction": "Stationbookend the 1.635076923208376.", + "task_id": "N034", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0590": { + "frame_idx": 590, + "caption": "Computing a grasp pose for the small red book; the right gripper is below and to the left of and in front of the red book.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0616": { + "frame_idx": 616, + "caption": "Working on the small red book; the right gripper is below and to the left of and in front of the red book.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0907": { + "frame_idx": 907, + "caption": "Computing a grasp pose for the small red book; the right gripper is below and to the left of and in front of the red book.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0921": { + "frame_idx": 921, + "caption": "Pre-grasping the small red book, servoing the arm toward it; the right gripper is below and to the left of and in front of the red book.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0922": { + "frame_idx": 922, + "caption": "Pre-grasping the small red book, moving the arm toward it; the right gripper is below and to the left of and in front of the red book.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0975": { + "frame_idx": 975, + "caption": "Grasping the small red book, moving the arm in to make contact; the right gripper is below and to the left of and in front of the red book.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1015": { + "frame_idx": 1015, + "caption": "Grasping the small red book, moving the arm in to make contact; the right gripper is below and to the left of the red book.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1017": { + "frame_idx": 1017, + "caption": "Grasping the small red book, moving the arm in to make contact; the right gripper is below the red book.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1037": { + "frame_idx": 1037, + "caption": "Closing the right gripper on the red book; the right gripper is below the red book.", + "skill": "Grasp", + "phase": "close_gripper", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1097": { + "frame_idx": 1097, + "caption": "Lifting the red book away with the gripper; the right gripper is below the red book.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "ParallelGripper", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1098": { + "frame_idx": 1098, + "caption": "Lifting the red book away with the arm; the right gripper is below the red book.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1160": { + "frame_idx": 1160, + "caption": "Done — the small red book is grasped; the right gripper is below the red book.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_2915": { + "frame_idx": 2915, + "caption": "Computing a grasp pose for the small bookend; the right gripper is below and to the left of and in front of the bookend.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "bookend_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2944": { + "frame_idx": 2944, + "caption": "Working on the small bookend; the right gripper is below and to the left of and in front of the bookend.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + 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