diff --git a/N052/go2_arm/dr_on/seed_2130/rec/check.json b/N052/go2_arm/dr_on/seed_2130/rec/check.json index d9a68b70e790ac577e9249ab34891455443a32da..3ba3a8bbe7c8b02ed992cb0677541bc8368b4b3c 100644 --- a/N052/go2_arm/dr_on/seed_2130/rec/check.json +++ b/N052/go2_arm/dr_on/seed_2130/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/go2_arm/dr_on/seed_2130/rec/check.txt b/N052/go2_arm/dr_on/seed_2130/rec/check.txt index eefd7e6dd7a4e0ac037a8e15e5cc6d3db507d8ab..567dba28231728e03731b08577b7f2530ff7e3eb 100644 --- a/N052/go2_arm/dr_on/seed_2130/rec/check.txt +++ b/N052/go2_arm/dr_on/seed_2130/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_go2_on_2130/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 1153 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: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1153 at dataset fps 25 = 46.12 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1153 rows vs ceil(2305/2) = 1153 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2365, step differences [2] diff --git a/N052/go2_arm/dr_on/seed_2130/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/go2_arm/dr_on/seed_2130/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 6e8f85981e145175a84a8c255697f3cc5b79d42b..bf89d52ee3d04c6acc48cfe3535264a880ae3499 100644 --- a/N052/go2_arm/dr_on/seed_2130/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/go2_arm/dr_on/seed_2130/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1153, "magicsim/control_steps": 2305, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the left of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, at table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1153, "magicsim/control_steps": 2305, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the left of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, at table height."} diff --git a/N052/go2_arm/dr_on/seed_2130/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/go2_arm/dr_on/seed_2130/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 743932327f8357686797b27f4fd6a021ff89fb3a..d9412319b802ea3de0368f9d062c8fb255cfd431 100644 --- a/N052/go2_arm/dr_on/seed_2130/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/go2_arm/dr_on/seed_2130/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 1.5707963267948966, diff --git a/N052/go2_arm/dr_on/seed_2130/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/go2_arm/dr_on/seed_2130/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/go2_arm/dr_on/seed_2130/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/go2_arm/dr_on/seed_2130/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/go2_arm/dr_on/seed_2132/rec/check.json b/N052/go2_arm/dr_on/seed_2132/rec/check.json index 400840e5ee0b584c43280ac78145568bc5c2432d..a4c14f86e7d22558fc444a8d55e9edf9a1d2a521 100644 --- a/N052/go2_arm/dr_on/seed_2132/rec/check.json +++ b/N052/go2_arm/dr_on/seed_2132/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/go2_arm/dr_on/seed_2132/rec/check.txt b/N052/go2_arm/dr_on/seed_2132/rec/check.txt index 890ce4a2c62470fdda4c9f56e5cb2678aadd49f4..06bdb2f6105791c322292f2b565ab7f0cf603362 100644 --- a/N052/go2_arm/dr_on/seed_2132/rec/check.txt +++ b/N052/go2_arm/dr_on/seed_2132/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_go2_on_2132/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 1136 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: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1136 at dataset fps 25 = 45.44 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1136 rows vs ceil(2271/2) = 1136 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2331, step differences [2] diff --git a/N052/go2_arm/dr_on/seed_2132/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/go2_arm/dr_on/seed_2132/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 329729f71033c1172dafa7d98ec0e1fac4109286..e78ae2f347d085ce3debd3b9793324b277e34d3f 100644 --- a/N052/go2_arm/dr_on/seed_2132/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/go2_arm/dr_on/seed_2132/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1136, "magicsim/control_steps": 2271, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is behind the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, at table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1136, "magicsim/control_steps": 2271, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is behind the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, at table height."} diff --git a/N052/go2_arm/dr_on/seed_2132/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/go2_arm/dr_on/seed_2132/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 345ffbec05138c53ee3d0d0e1c92d6d6775a9ea6..c538300b112f0fe7d3ccf0d7f4f8d3c42e0454fe 100644 --- a/N052/go2_arm/dr_on/seed_2132/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/go2_arm/dr_on/seed_2132/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -581,7 +581,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 1.5707963267948966, diff --git a/N052/go2_arm/dr_on/seed_2132/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/go2_arm/dr_on/seed_2132/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/go2_arm/dr_on/seed_2132/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/go2_arm/dr_on/seed_2132/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/go2_arm/dr_on/seed_2133/rec/check.json b/N052/go2_arm/dr_on/seed_2133/rec/check.json index 60e5416341e1d16c33612f089a53b1d17851cd27..b10258e08c1a27003ff72a395897616d66451ce1 100644 --- a/N052/go2_arm/dr_on/seed_2133/rec/check.json +++ b/N052/go2_arm/dr_on/seed_2133/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/go2_arm/dr_on/seed_2133/rec/check.txt b/N052/go2_arm/dr_on/seed_2133/rec/check.txt index 152b8fb268bfdc983042aea3dc606da52ad3c998..47639e71038ff3da3f902403bd2fd44801acc64b 100644 --- a/N052/go2_arm/dr_on/seed_2133/rec/check.txt +++ b/N052/go2_arm/dr_on/seed_2133/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_go2_on_2133/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 1158 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: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1158 at dataset fps 25 = 46.32 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1158 rows vs ceil(2316/2) = 1158 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2375, step differences [2] diff --git a/N052/go2_arm/dr_on/seed_2133/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/go2_arm/dr_on/seed_2133/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 5c2c2c241c5efd1af80404599b8940b4ca20fb62..62a919ca0368a058f07d209e0b592fb366691d9a 100644 --- a/N052/go2_arm/dr_on/seed_2133/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/go2_arm/dr_on/seed_2133/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1158, "magicsim/control_steps": 2316, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, at table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1158, "magicsim/control_steps": 2316, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, at table height."} diff --git a/N052/go2_arm/dr_on/seed_2133/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/go2_arm/dr_on/seed_2133/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index fa4a11740605ccd6a67a7399862e83a597747aaa..9a0e2a09d4a0d2ede25b80ad3cd25fb947f407af 100644 --- a/N052/go2_arm/dr_on/seed_2133/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/go2_arm/dr_on/seed_2133/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -581,7 +581,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 1.5707963267948966, diff --git a/N052/go2_arm/dr_on/seed_2133/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/go2_arm/dr_on/seed_2133/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/go2_arm/dr_on/seed_2133/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/go2_arm/dr_on/seed_2133/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/go2_arm/dr_on/seed_2135/rec/check.json b/N052/go2_arm/dr_on/seed_2135/rec/check.json index b7b2412d32800d1d6bea290a967b53ac0c3342b2..1b21e058acfd340331a24caadb06aebdccbba117 100644 --- a/N052/go2_arm/dr_on/seed_2135/rec/check.json +++ b/N052/go2_arm/dr_on/seed_2135/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/go2_arm/dr_on/seed_2135/rec/check.txt b/N052/go2_arm/dr_on/seed_2135/rec/check.txt index 2ebf8a5973da0407e2de0e7a98afee6373b404d7..bd41276208d733555c82db726942a893e1607616 100644 --- a/N052/go2_arm/dr_on/seed_2135/rec/check.txt +++ b/N052/go2_arm/dr_on/seed_2135/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_go2_on_2135/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 1101 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: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1101 at dataset fps 25 = 44.04 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1101 rows vs ceil(2201/2) = 1101 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2261, step differences [2] diff --git a/N052/go2_arm/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/go2_arm/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 5ef65457cff3ff52415ac708ed967be2e3301f4b..588ac55a5279cf29c9f64e47e72563cb0d73acf5 100644 --- a/N052/go2_arm/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/go2_arm/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1101, "magicsim/control_steps": 2201, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the left of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, at table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1101, "magicsim/control_steps": 2201, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the left of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, at table height."} diff --git a/N052/go2_arm/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/go2_arm/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index e3cb5ed39bb41a78517328418f1c72fa4d99ecd5..c961a5d00767ba6dbdd33a7ca5368fcfac69217d 100644 --- a/N052/go2_arm/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/go2_arm/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -581,7 +581,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 1.5707963267948966, diff --git a/N052/go2_arm/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/go2_arm/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/go2_arm/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/go2_arm/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/go2_arm/dr_on/seed_2136/rec/check.json b/N052/go2_arm/dr_on/seed_2136/rec/check.json index 78a84e128a50f128da33a82c477e64b8ced005e4..45e4e436b78bfaa99bde3a5238d6f7e4d09347ee 100644 --- a/N052/go2_arm/dr_on/seed_2136/rec/check.json +++ b/N052/go2_arm/dr_on/seed_2136/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/go2_arm/dr_on/seed_2136/rec/check.txt b/N052/go2_arm/dr_on/seed_2136/rec/check.txt index f1a36938d55b9c52c53632439518fdac70af983c..9e9f500aec223f3ced960a499e856383cf230506 100644 --- a/N052/go2_arm/dr_on/seed_2136/rec/check.txt +++ b/N052/go2_arm/dr_on/seed_2136/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_go2_on_2136/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 1133 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: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1133 at dataset fps 25 = 45.32 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1133 rows vs ceil(2265/2) = 1133 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2325, step differences [2] diff --git a/N052/go2_arm/dr_on/seed_2136/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/go2_arm/dr_on/seed_2136/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 1b279f48dbe10b2928f2d938c619c86caa1af14b..7723982f696d2e936c170f08bf958c6522340d03 100644 --- a/N052/go2_arm/dr_on/seed_2136/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/go2_arm/dr_on/seed_2136/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1133, "magicsim/control_steps": 2265, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the right of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, at table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1133, "magicsim/control_steps": 2265, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the right of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, at table height."} diff --git a/N052/go2_arm/dr_on/seed_2136/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/go2_arm/dr_on/seed_2136/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index bcf20fe96db9b80aeb6b5cc34af0523678add374..d97e836e5a206339cd56b01da0bd3428c3c8d052 100644 --- a/N052/go2_arm/dr_on/seed_2136/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/go2_arm/dr_on/seed_2136/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -581,7 +581,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 1.5707963267948966, diff --git a/N052/go2_arm/dr_on/seed_2136/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/go2_arm/dr_on/seed_2136/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/go2_arm/dr_on/seed_2136/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/go2_arm/dr_on/seed_2136/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/go2_arm/dr_on/seed_2137/rec/check.json b/N052/go2_arm/dr_on/seed_2137/rec/check.json index 5609b7e76bf7de8a27d0b8d2344838726afd4429..768bc41c821a653c4ae961c30e06610b053e614c 100644 --- a/N052/go2_arm/dr_on/seed_2137/rec/check.json +++ b/N052/go2_arm/dr_on/seed_2137/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/go2_arm/dr_on/seed_2137/rec/check.txt b/N052/go2_arm/dr_on/seed_2137/rec/check.txt index 7f400be265bc3d9de5ec5761d776a95173663594..b7d5c05300e4f0d45925e5eee8817a37863d0a6b 100644 --- a/N052/go2_arm/dr_on/seed_2137/rec/check.txt +++ b/N052/go2_arm/dr_on/seed_2137/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_go2_on_2137/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 1131 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: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1131 at dataset fps 25 = 45.24 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1131 rows vs ceil(2261/2) = 1131 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2321, step differences [2] diff --git a/N052/go2_arm/dr_on/seed_2137/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/go2_arm/dr_on/seed_2137/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index d8d4c88fa09fbf263b5627e380fec4d40b439afa..bf9294040df37a2309a7a75d6f1ca00298fc1ecc 100644 --- a/N052/go2_arm/dr_on/seed_2137/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/go2_arm/dr_on/seed_2137/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1131, "magicsim/control_steps": 2261, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the left of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, at table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1131, "magicsim/control_steps": 2261, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the left of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, at table height."} diff --git a/N052/go2_arm/dr_on/seed_2137/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/go2_arm/dr_on/seed_2137/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 233ecc60fa60fbd5b3f155466a6347077da9b751..46ba69c304a2b0edffc516fdebcfc5e8581eddab 100644 --- a/N052/go2_arm/dr_on/seed_2137/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/go2_arm/dr_on/seed_2137/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -581,7 +581,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 1.5707963267948966, diff --git a/N052/go2_arm/dr_on/seed_2137/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/go2_arm/dr_on/seed_2137/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/go2_arm/dr_on/seed_2137/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/go2_arm/dr_on/seed_2137/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/go2_arm/dr_on/seed_2138/rec/check.json b/N052/go2_arm/dr_on/seed_2138/rec/check.json index bd0006ca45b5c93001f5129ef7588690fd756dac..9bd4d6dcf7f8acd3772b514e44d540ee625926bf 100644 --- a/N052/go2_arm/dr_on/seed_2138/rec/check.json +++ b/N052/go2_arm/dr_on/seed_2138/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/go2_arm/dr_on/seed_2138/rec/check.txt b/N052/go2_arm/dr_on/seed_2138/rec/check.txt index 0870e435a364fd24a1da9a5c9419aaadb40c4cd2..306b05a8b444eb5a703589686ed20f9b25cd3f19 100644 --- a/N052/go2_arm/dr_on/seed_2138/rec/check.txt +++ b/N052/go2_arm/dr_on/seed_2138/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_go2_on_2138_r1/out/rec/memorystage/0 --- episode file episode_000000.parquet: 1180 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: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1180 at dataset fps 25 = 47.20 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1180 rows vs ceil(2360/2) = 1180 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2419, step differences [2] diff --git a/N052/go2_arm/dr_on/seed_2138/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/go2_arm/dr_on/seed_2138/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 2cfda60b60f2b3665379408b7afac3f4e01f9f3c..f25262045b48e139952c376bd075bb48a03ab40e 100644 --- a/N052/go2_arm/dr_on/seed_2138/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/go2_arm/dr_on/seed_2138/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1180, "magicsim/control_steps": 2360, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, at table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1180, "magicsim/control_steps": 2360, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, at table height."} diff --git a/N052/go2_arm/dr_on/seed_2138/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/go2_arm/dr_on/seed_2138/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index a8f7c147847ecc9e84edddd73bc145dc7dfa031b..4b6879bdb91326a328c700b7651a17680d03450e 100644 --- a/N052/go2_arm/dr_on/seed_2138/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/go2_arm/dr_on/seed_2138/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 1.5707963267948966, diff --git a/N052/go2_arm/dr_on/seed_2138/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/go2_arm/dr_on/seed_2138/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/go2_arm/dr_on/seed_2138/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/go2_arm/dr_on/seed_2138/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/go2_arm/dr_on/seed_2139/rec/check.json b/N052/go2_arm/dr_on/seed_2139/rec/check.json index 192064582406d03f93e9562a8fb49813f1c39ae9..0b996483414ad1c7777b4569d85db5437d09bf1f 100644 --- a/N052/go2_arm/dr_on/seed_2139/rec/check.json +++ b/N052/go2_arm/dr_on/seed_2139/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/go2_arm/dr_on/seed_2139/rec/check.txt b/N052/go2_arm/dr_on/seed_2139/rec/check.txt index 7bb11b3340cac8123e6c9ad33cba207a673a4f27..7c08e4e438aaddd61715a8be266fab4b1172a38b 100644 --- a/N052/go2_arm/dr_on/seed_2139/rec/check.txt +++ b/N052/go2_arm/dr_on/seed_2139/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_go2_on_2139/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 1210 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: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1210 at dataset fps 25 = 48.40 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1210 rows vs ceil(2419/2) = 1210 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2479, step differences [2] diff --git a/N052/go2_arm/dr_on/seed_2139/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/go2_arm/dr_on/seed_2139/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 5b6067cfe0036e671f829698988a7e767f9601eb..4b6c74567b31a40dc7bf5b00509735877702728d 100644 --- a/N052/go2_arm/dr_on/seed_2139/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/go2_arm/dr_on/seed_2139/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1210, "magicsim/control_steps": 2419, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, at table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1210, "magicsim/control_steps": 2419, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, at table height."} diff --git a/N052/go2_arm/dr_on/seed_2139/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/go2_arm/dr_on/seed_2139/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index a5c8bfea76f872d5fedc63a70c8fab3a6079cf6c..5c00d4b83d3bc8fb9209926dfbb3375b99389791 100644 --- a/N052/go2_arm/dr_on/seed_2139/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/go2_arm/dr_on/seed_2139/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 1.5707963267948966, diff --git a/N052/go2_arm/dr_on/seed_2139/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/go2_arm/dr_on/seed_2139/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/go2_arm/dr_on/seed_2139/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/go2_arm/dr_on/seed_2139/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/go2_arm/dr_on/seed_2140/rec/check.json b/N052/go2_arm/dr_on/seed_2140/rec/check.json index 7426236c01298d624043ade843f0e39a2931a93d..fdbe2bd83d2ec21f58453de08fd1ffc19bd5a53c 100644 --- a/N052/go2_arm/dr_on/seed_2140/rec/check.json +++ b/N052/go2_arm/dr_on/seed_2140/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/go2_arm/dr_on/seed_2140/rec/check.txt b/N052/go2_arm/dr_on/seed_2140/rec/check.txt index add3908eb98ddc0d5b285ee4e83e3bca3b052acb..b964886cd024edab9e50335e2544deb95a07f2db 100644 --- a/N052/go2_arm/dr_on/seed_2140/rec/check.txt +++ b/N052/go2_arm/dr_on/seed_2140/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_go2_on_2140/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 1169 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: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1169 at dataset fps 25 = 46.76 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1169 rows vs ceil(2337/2) = 1169 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2397, step differences [2] diff --git a/N052/go2_arm/dr_on/seed_2140/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/go2_arm/dr_on/seed_2140/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 039a68733d295460ff6d8709545ff9b0346e3623..f03921b159d3a7c29f4aa393e048de3f51678cd7 100644 --- a/N052/go2_arm/dr_on/seed_2140/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/go2_arm/dr_on/seed_2140/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1169, "magicsim/control_steps": 2337, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, at table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1169, "magicsim/control_steps": 2337, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, at table height."} diff --git a/N052/go2_arm/dr_on/seed_2140/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/go2_arm/dr_on/seed_2140/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index dee1ff83491661bfeb511fbaa0be4250928df61b..fe0de3cf93f38c23c24f61c002e803db489e0081 100644 --- a/N052/go2_arm/dr_on/seed_2140/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/go2_arm/dr_on/seed_2140/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -581,7 +581,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 1.5707963267948966, diff --git a/N052/go2_arm/dr_on/seed_2140/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/go2_arm/dr_on/seed_2140/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/go2_arm/dr_on/seed_2140/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/go2_arm/dr_on/seed_2140/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/go2_arm/dr_on/seed_2141/rec/check.json b/N052/go2_arm/dr_on/seed_2141/rec/check.json index bcfc390588252ac1724f25877c055d27b57ec0fc..f8e51271cfaceef1881b39becd22fe49c7056631 100644 --- a/N052/go2_arm/dr_on/seed_2141/rec/check.json +++ b/N052/go2_arm/dr_on/seed_2141/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/go2_arm/dr_on/seed_2141/rec/check.txt b/N052/go2_arm/dr_on/seed_2141/rec/check.txt index 5540b9982688430f7ea7e804ca343033e1afb8d6..6cd61222fba384f1be53150464348a99664f3e04 100644 --- a/N052/go2_arm/dr_on/seed_2141/rec/check.txt +++ b/N052/go2_arm/dr_on/seed_2141/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_go2_on_2141/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 1118 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: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1118 at dataset fps 25 = 44.72 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1118 rows vs ceil(2236/2) = 1118 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2295, step differences [2] diff --git a/N052/go2_arm/dr_on/seed_2141/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/go2_arm/dr_on/seed_2141/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 620d7981945dc9c8e94a6b9b8a90f7fe86fef21c..a2f5b10545b0713b7f964a148fa6524d1f749bf2 100644 --- a/N052/go2_arm/dr_on/seed_2141/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/go2_arm/dr_on/seed_2141/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1118, "magicsim/control_steps": 2236, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the left of the white st wall r. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, at table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1118, "magicsim/control_steps": 2236, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the left of the white st wall r. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, at table height."} diff --git a/N052/go2_arm/dr_on/seed_2141/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/go2_arm/dr_on/seed_2141/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index eaa34df97279e37f08e391bd3c225fc874966225..86044fe4542c402abc478eb5d27f092b68b9b256 100644 --- a/N052/go2_arm/dr_on/seed_2141/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/go2_arm/dr_on/seed_2141/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 1.5707963267948966, diff --git a/N052/go2_arm/dr_on/seed_2141/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/go2_arm/dr_on/seed_2141/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/go2_arm/dr_on/seed_2141/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/go2_arm/dr_on/seed_2141/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/go2_arm/dr_on/seed_2142/rec/check.json b/N052/go2_arm/dr_on/seed_2142/rec/check.json index c639159f12fc164613e9b72eb3910f453c9260eb..1c4022642fef17ace103b70f86d4c224a5040e1b 100644 --- a/N052/go2_arm/dr_on/seed_2142/rec/check.json +++ b/N052/go2_arm/dr_on/seed_2142/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/go2_arm/dr_on/seed_2142/rec/check.txt b/N052/go2_arm/dr_on/seed_2142/rec/check.txt index 540a25fff3b74f6d741415f2f14b6d94d4d895dd..f07994bc2f0c760be4406c577463f3de6d7bac0a 100644 --- a/N052/go2_arm/dr_on/seed_2142/rec/check.txt +++ b/N052/go2_arm/dr_on/seed_2142/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_go2_on_2142/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 1124 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: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1124 at dataset fps 25 = 44.96 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1124 rows vs ceil(2248/2) = 1124 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2307, step differences [2] diff --git a/N052/go2_arm/dr_on/seed_2142/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/go2_arm/dr_on/seed_2142/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index eae6154e9c506c706134e855088c8ba8fd514a0a..e738748142867153801e94370e733e3cd8f67797 100644 --- a/N052/go2_arm/dr_on/seed_2142/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/go2_arm/dr_on/seed_2142/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1124, "magicsim/control_steps": 2248, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is in front of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, at table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1124, "magicsim/control_steps": 2248, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is in front of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, at table height."} diff --git a/N052/go2_arm/dr_on/seed_2142/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/go2_arm/dr_on/seed_2142/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 6fabfee0be061c21478c1fb634162f1c30dad777..4740e321f3efd1d86e471fa4aabcd82ae2003dc4 100644 --- a/N052/go2_arm/dr_on/seed_2142/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/go2_arm/dr_on/seed_2142/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -581,7 +581,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 1.5707963267948966, diff --git a/N052/go2_arm/dr_on/seed_2142/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/go2_arm/dr_on/seed_2142/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/go2_arm/dr_on/seed_2142/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/go2_arm/dr_on/seed_2142/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/go2_arm/dr_on/seed_2143/rec/check.json b/N052/go2_arm/dr_on/seed_2143/rec/check.json index 655f45df40497636fca42d71a9978dd03528a574..2045d98ad7d8b5ad8367f0fc269480c3036ff41c 100644 --- a/N052/go2_arm/dr_on/seed_2143/rec/check.json +++ b/N052/go2_arm/dr_on/seed_2143/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/go2_arm/dr_on/seed_2143/rec/check.txt b/N052/go2_arm/dr_on/seed_2143/rec/check.txt index e454693e2b3f49591f1ea7b18bc1ae4433ec0e3c..2aaefde97ee4c48def803dc7771c80bca8ea0949 100644 --- a/N052/go2_arm/dr_on/seed_2143/rec/check.txt +++ b/N052/go2_arm/dr_on/seed_2143/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_go2_on_2143_r1/out/rec/memorystage/0 --- episode file episode_000000.parquet: 1124 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: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1124 at dataset fps 25 = 44.96 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1124 rows vs ceil(2248/2) = 1124 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2307, step differences [2] diff --git a/N052/go2_arm/dr_on/seed_2143/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/go2_arm/dr_on/seed_2143/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 7b81307467c64c7439afe35b5386b90a23ffb71e..25e68303443a9ac2adf6348e385d31f1f94d8d28 100644 --- a/N052/go2_arm/dr_on/seed_2143/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/go2_arm/dr_on/seed_2143/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1124, "magicsim/control_steps": 2248, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, at table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1124, "magicsim/control_steps": 2248, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, at table height."} diff --git a/N052/go2_arm/dr_on/seed_2143/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/go2_arm/dr_on/seed_2143/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 37d8959791307c71de14c0e24acba61dae318b40..ff5a3db0389d31dff8906f945cd43381dc3854a9 100644 --- a/N052/go2_arm/dr_on/seed_2143/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/go2_arm/dr_on/seed_2143/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -581,7 +581,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 1.5707963267948966, diff --git a/N052/go2_arm/dr_on/seed_2143/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/go2_arm/dr_on/seed_2143/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/go2_arm/dr_on/seed_2143/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/go2_arm/dr_on/seed_2143/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/go2_arm/dr_on/seed_2145/rec/check.json b/N052/go2_arm/dr_on/seed_2145/rec/check.json index ed5339537c025aa2f0ba309f294aa46c0949fe1a..65471723689a2d91e42d84bf8b09076296d96320 100644 --- a/N052/go2_arm/dr_on/seed_2145/rec/check.json +++ b/N052/go2_arm/dr_on/seed_2145/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/go2_arm/dr_on/seed_2145/rec/check.txt b/N052/go2_arm/dr_on/seed_2145/rec/check.txt index 813728321738f411073b80e6e0c158b1b621f384..f7afed9eb00f22b808b1f8604f74700471ff5b82 100644 --- a/N052/go2_arm/dr_on/seed_2145/rec/check.txt +++ b/N052/go2_arm/dr_on/seed_2145/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_go2_on_2145/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 1114 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: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1114 at dataset fps 25 = 44.56 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1114 rows vs ceil(2227/2) = 1114 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2287, step differences [2] diff --git a/N052/go2_arm/dr_on/seed_2145/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/go2_arm/dr_on/seed_2145/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 6fcec7e5630aad7ee2511965be13d60d1381642e..6b058db128dc61492dc14b1fe489e6d0cf7aa05a 100644 --- a/N052/go2_arm/dr_on/seed_2145/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/go2_arm/dr_on/seed_2145/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1114, "magicsim/control_steps": 2227, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the left of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, at table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1114, "magicsim/control_steps": 2227, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the left of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, at table height."} diff --git a/N052/go2_arm/dr_on/seed_2145/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/go2_arm/dr_on/seed_2145/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index bd5331745301492c489434aaa9763ce48572b06d..98671f18b8c266e2b7a6b46dccb15dbfc298a9e2 100644 --- a/N052/go2_arm/dr_on/seed_2145/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/go2_arm/dr_on/seed_2145/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 1.5707963267948966, diff --git a/N052/go2_arm/dr_on/seed_2145/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/go2_arm/dr_on/seed_2145/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/go2_arm/dr_on/seed_2145/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/go2_arm/dr_on/seed_2145/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/go2_arm/dr_on/seed_2146/rec/check.json b/N052/go2_arm/dr_on/seed_2146/rec/check.json index 67f418e4b99862cefd8fc518c26d20dbacd35f0a..627d5538d02f8bf8b65dd04406574fe7f25d76ea 100644 --- a/N052/go2_arm/dr_on/seed_2146/rec/check.json +++ b/N052/go2_arm/dr_on/seed_2146/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/go2_arm/dr_on/seed_2146/rec/check.txt b/N052/go2_arm/dr_on/seed_2146/rec/check.txt index 601087b2207764a48a2b710cfc1742b7c77865a7..09ff164f04fc4c294025f084f986ec065934448d 100644 --- a/N052/go2_arm/dr_on/seed_2146/rec/check.txt +++ b/N052/go2_arm/dr_on/seed_2146/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_go2_on_2146/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 1105 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: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1105 at dataset fps 25 = 44.20 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1105 rows vs ceil(2210/2) = 1105 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2269, step differences [2] diff --git a/N052/go2_arm/dr_on/seed_2146/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/go2_arm/dr_on/seed_2146/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index e3173c87f1489adc36589172a34ae8bb1b3c7986..c6852301de7517e5fd17a26aac7a1b047427f844 100644 --- a/N052/go2_arm/dr_on/seed_2146/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/go2_arm/dr_on/seed_2146/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1105, "magicsim/control_steps": 2210, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, at table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1105, "magicsim/control_steps": 2210, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, at table height."} diff --git a/N052/go2_arm/dr_on/seed_2146/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/go2_arm/dr_on/seed_2146/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index f2853ab01ebeab7c866a799f155f50e622f415f0..4c341a2826fc0ee15dd5b8a7d15ee20909f1b1d2 100644 --- a/N052/go2_arm/dr_on/seed_2146/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/go2_arm/dr_on/seed_2146/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -581,7 +581,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 1.5707963267948966, diff --git a/N052/go2_arm/dr_on/seed_2146/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/go2_arm/dr_on/seed_2146/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/go2_arm/dr_on/seed_2146/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/go2_arm/dr_on/seed_2146/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/go2_arm/dr_on/seed_2147/rec/check.json b/N052/go2_arm/dr_on/seed_2147/rec/check.json index 4df19e164d4afe08cca55da2dd5e80000aee66bd..ef9eadf0dee2ce6f7040ccfff93b4e55ba321ed4 100644 --- a/N052/go2_arm/dr_on/seed_2147/rec/check.json +++ b/N052/go2_arm/dr_on/seed_2147/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/go2_arm/dr_on/seed_2147/rec/check.txt b/N052/go2_arm/dr_on/seed_2147/rec/check.txt index 12789ca1f212245fae499989483cf066f14c3519..a6af422e92a5f1f118a4e9ab34552c2007ae858e 100644 --- a/N052/go2_arm/dr_on/seed_2147/rec/check.txt +++ b/N052/go2_arm/dr_on/seed_2147/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_go2_on_2147/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 1150 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: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1150 at dataset fps 25 = 46.00 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1150 rows vs ceil(2300/2) = 1150 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2359, step differences [2] diff --git a/N052/go2_arm/dr_on/seed_2147/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/go2_arm/dr_on/seed_2147/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 711a0a6b46cb16d448cea48d9fa729fd8a086d20..7384c9e853473cfdffb9705208217d9e434f2c22 100644 --- a/N052/go2_arm/dr_on/seed_2147/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/go2_arm/dr_on/seed_2147/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1150, "magicsim/control_steps": 2300, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the left of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, at table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1150, "magicsim/control_steps": 2300, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the left of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, at table height."} diff --git a/N052/go2_arm/dr_on/seed_2147/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/go2_arm/dr_on/seed_2147/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 6a779e685b7f48b560d69187c375b05832dc8474..e5190cf96cdd684025cc3b00abcbd29f05779fe2 100644 --- a/N052/go2_arm/dr_on/seed_2147/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/go2_arm/dr_on/seed_2147/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 1.5707963267948966, diff --git a/N052/go2_arm/dr_on/seed_2147/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/go2_arm/dr_on/seed_2147/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/go2_arm/dr_on/seed_2147/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/go2_arm/dr_on/seed_2147/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/go2_arm/dr_on/seed_2148/rec/check.json b/N052/go2_arm/dr_on/seed_2148/rec/check.json index 607809b01aa2b2fb2227e340d63caf6e470b3634..19975c1b6b67213109c63f57b0a82a37bcd408ae 100644 --- a/N052/go2_arm/dr_on/seed_2148/rec/check.json +++ b/N052/go2_arm/dr_on/seed_2148/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/go2_arm/dr_on/seed_2148/rec/check.txt b/N052/go2_arm/dr_on/seed_2148/rec/check.txt index dbbae68ac6f0870a9bae5133caf324e78ef1611b..3aeeea06e93412961ca3f71cafe1ada4d0c07da0 100644 --- a/N052/go2_arm/dr_on/seed_2148/rec/check.txt +++ b/N052/go2_arm/dr_on/seed_2148/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_go2_on_2148/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 1177 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: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1177 at dataset fps 25 = 47.08 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1177 rows vs ceil(2354/2) = 1177 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2413, step differences [2] diff --git a/N052/go2_arm/dr_on/seed_2148/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/go2_arm/dr_on/seed_2148/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index bf8ec5a098f3fde97f57a47fde9bb8587a0ea977..afef4f55f3c0ece4d41fa25be5c93b90b7621699 100644 --- a/N052/go2_arm/dr_on/seed_2148/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/go2_arm/dr_on/seed_2148/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1177, "magicsim/control_steps": 2354, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the left of the white st wall r. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, at table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1177, "magicsim/control_steps": 2354, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the left of the white st wall r. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, at table height."} diff --git a/N052/go2_arm/dr_on/seed_2148/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/go2_arm/dr_on/seed_2148/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 4eb9d531faea2af58ffa8dfccf8e107b5d214eeb..1ab08b8e74c989db17694798b7e9babbdf2563b6 100644 --- a/N052/go2_arm/dr_on/seed_2148/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/go2_arm/dr_on/seed_2148/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -581,7 +581,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 1.5707963267948966, diff --git a/N052/go2_arm/dr_on/seed_2148/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/go2_arm/dr_on/seed_2148/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/go2_arm/dr_on/seed_2148/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/go2_arm/dr_on/seed_2148/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/go2_arm/dr_on/seed_2149/rec/check.json b/N052/go2_arm/dr_on/seed_2149/rec/check.json index f524df074ee3efe6e063b39f85342be529fb524a..bede3a22d89838bc9d5daf11edbc4c4ec2854d0b 100644 --- a/N052/go2_arm/dr_on/seed_2149/rec/check.json +++ b/N052/go2_arm/dr_on/seed_2149/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/go2_arm/dr_on/seed_2149/rec/check.txt b/N052/go2_arm/dr_on/seed_2149/rec/check.txt index 8943cb03c4f7256c67245f6f4416312217110328..4e505d371f21ded6679f0f7fbe663ffeb2d1345b 100644 --- a/N052/go2_arm/dr_on/seed_2149/rec/check.txt +++ b/N052/go2_arm/dr_on/seed_2149/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_go2_on_2149/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 1377 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 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: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1377 at dataset fps 25 = 55.08 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1377 rows vs ceil(2754/2) = 1377 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2813, step differences [2] diff --git a/N052/go2_arm/dr_on/seed_2149/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/go2_arm/dr_on/seed_2149/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index b64be7b3301640876eecd5cd58650b5f5d9ca1ae..10d45994edd84036b2623a19a540cf0273bded60 100644 --- a/N052/go2_arm/dr_on/seed_2149/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/go2_arm/dr_on/seed_2149/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1377, "magicsim/control_steps": 2754, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, at table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1377, "magicsim/control_steps": 2754, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, at table height."} diff --git a/N052/go2_arm/dr_on/seed_2149/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/go2_arm/dr_on/seed_2149/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 067fd4ed075e6867683ebdb8e99c0a5b0cf8bbcc..a12540be4f6cfdf06d71750f5cd9cd6c447f6612 100644 --- a/N052/go2_arm/dr_on/seed_2149/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/go2_arm/dr_on/seed_2149/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 1.5707963267948966, diff --git a/N052/go2_arm/dr_on/seed_2149/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/go2_arm/dr_on/seed_2149/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/go2_arm/dr_on/seed_2149/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/go2_arm/dr_on/seed_2149/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/go2_arm/dr_on/seed_2150/rec/check.json b/N052/go2_arm/dr_on/seed_2150/rec/check.json index 5320e8e7d0d669bca1afd3d0800800dd6ea95e7c..a418855e888803f321802be483c9f5704a1eb357 100644 --- a/N052/go2_arm/dr_on/seed_2150/rec/check.json +++ b/N052/go2_arm/dr_on/seed_2150/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/go2_arm/dr_on/seed_2150/rec/check.txt b/N052/go2_arm/dr_on/seed_2150/rec/check.txt index 62dad47c4d0c4f916beae101d275dc6ae60aaa2b..0234d0440d7acfce69851f9edb2b27d7d6349112 100644 --- a/N052/go2_arm/dr_on/seed_2150/rec/check.txt +++ b/N052/go2_arm/dr_on/seed_2150/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_go2_on_2150/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 1105 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: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1105 at dataset fps 25 = 44.20 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1105 rows vs ceil(2210/2) = 1105 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2269, step differences [2] diff --git a/N052/go2_arm/dr_on/seed_2150/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/go2_arm/dr_on/seed_2150/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 6c13ac58034573faa9324b9221b2478e96c34bcd..151e66425aaf067c39d076ae0cfb788ae7d1ba64 100644 --- a/N052/go2_arm/dr_on/seed_2150/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/go2_arm/dr_on/seed_2150/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1105, "magicsim/control_steps": 2210, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is in front of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, at table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1105, "magicsim/control_steps": 2210, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is in front of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, at table height."} diff --git a/N052/go2_arm/dr_on/seed_2150/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/go2_arm/dr_on/seed_2150/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 2a5ee97dd5043bb7fdaf8c073727958e27361079..c35f585bc473358163f70b5ef15d1519e96a55e7 100644 --- a/N052/go2_arm/dr_on/seed_2150/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/go2_arm/dr_on/seed_2150/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -581,7 +581,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 1.5707963267948966, diff --git a/N052/go2_arm/dr_on/seed_2150/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/go2_arm/dr_on/seed_2150/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/go2_arm/dr_on/seed_2150/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/go2_arm/dr_on/seed_2150/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/go2_arm/dr_on/seed_2151/rec/check.json b/N052/go2_arm/dr_on/seed_2151/rec/check.json index 4dc9f01914c30aa133d818d2482a746ab8ad59ac..7ebbad37ba8ad7e9d0d0e0180f4d3d6d1b77fe4c 100644 --- a/N052/go2_arm/dr_on/seed_2151/rec/check.json +++ b/N052/go2_arm/dr_on/seed_2151/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/go2_arm/dr_on/seed_2151/rec/check.txt b/N052/go2_arm/dr_on/seed_2151/rec/check.txt index 6313798bf629ca6623d852a833bc3484f8b02a64..6f11e2e675344a8bb8a57ff44cd82ef453cd364f 100644 --- a/N052/go2_arm/dr_on/seed_2151/rec/check.txt +++ b/N052/go2_arm/dr_on/seed_2151/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_go2_on_2151/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 1179 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: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1179 at dataset fps 25 = 47.16 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1179 rows vs ceil(2358/2) = 1179 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2417, step differences [2] diff --git a/N052/go2_arm/dr_on/seed_2151/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/go2_arm/dr_on/seed_2151/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 6f06d0a98bebc93c3f1bd24b6864c0771d7c3208..ee0a5668b5a1a3cc1c1ae91c94d6847867c00d83 100644 --- a/N052/go2_arm/dr_on/seed_2151/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/go2_arm/dr_on/seed_2151/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1179, "magicsim/control_steps": 2358, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the left of the white st wall r. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, at table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1179, "magicsim/control_steps": 2358, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the left of the white st wall r. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, at table height."} diff --git a/N052/go2_arm/dr_on/seed_2151/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/go2_arm/dr_on/seed_2151/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 58fd5b1ca009d3769438cf5a76714310045ac786..d9b05b88ad20deae072c821ff3354692fd998b02 100644 --- a/N052/go2_arm/dr_on/seed_2151/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/go2_arm/dr_on/seed_2151/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -581,7 +581,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 1.5707963267948966, diff --git a/N052/go2_arm/dr_on/seed_2151/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/go2_arm/dr_on/seed_2151/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/go2_arm/dr_on/seed_2151/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/go2_arm/dr_on/seed_2151/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/go2_arm/dr_on/seed_2153/rec/check.json b/N052/go2_arm/dr_on/seed_2153/rec/check.json index 2ea3421d412dc3e4422a23dc71728502386d8cd8..5c01476b0e3c272c17436f0409cdf954874dda91 100644 --- a/N052/go2_arm/dr_on/seed_2153/rec/check.json +++ b/N052/go2_arm/dr_on/seed_2153/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/go2_arm/dr_on/seed_2153/rec/check.txt b/N052/go2_arm/dr_on/seed_2153/rec/check.txt index f427a6949f8a1db9fc2858ee2919842c5d94b21b..be4bbd3b8d7dbeca72c6d2ca90f72c905512de0e 100644 --- a/N052/go2_arm/dr_on/seed_2153/rec/check.txt +++ b/N052/go2_arm/dr_on/seed_2153/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_go2_on_2153_r1/out/rec/memorystage/0 --- episode file episode_000000.parquet: 1180 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: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1180 at dataset fps 25 = 47.20 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1180 rows vs ceil(2359/2) = 1180 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2419, step differences [2] diff --git a/N052/go2_arm/dr_on/seed_2153/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/go2_arm/dr_on/seed_2153/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 7acc0eefe82a96da0d6b9c6a64e9d8a59a6e18fb..904e0fd6aeac2f2337141f670aea6f314d2a33b6 100644 --- a/N052/go2_arm/dr_on/seed_2153/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/go2_arm/dr_on/seed_2153/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1180, "magicsim/control_steps": 2359, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, at table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1180, "magicsim/control_steps": 2359, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, at table height."} diff --git a/N052/go2_arm/dr_on/seed_2153/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/go2_arm/dr_on/seed_2153/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 2bfd241457718c4c3f24b786dae0a86f32e9ba8a..07d7fb5fae721ecc9a0ac32d22b384a9509be84c 100644 --- a/N052/go2_arm/dr_on/seed_2153/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/go2_arm/dr_on/seed_2153/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 1.5707963267948966, diff --git a/N052/go2_arm/dr_on/seed_2153/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/go2_arm/dr_on/seed_2153/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/go2_arm/dr_on/seed_2153/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/go2_arm/dr_on/seed_2153/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_off/seed_1001/rec/check.json b/N052/stretch3/dr_off/seed_1001/rec/check.json index f479785399b6a5cbc1a7110930a69953c52f7eff..d7edf97ca48b8c5b0f97a168b06f268b42107b68 100644 --- a/N052/stretch3/dr_off/seed_1001/rec/check.json +++ b/N052/stretch3/dr_off/seed_1001/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_off/seed_1001/rec/check.txt b/N052/stretch3/dr_off/seed_1001/rec/check.txt index 8713bb34d795a00317e93a6922f9e8fef73df63b..8d61a7508a9b3bc7924f60cab1105228351f24f7 100644 --- a/N052/stretch3/dr_off/seed_1001/rec/check.txt +++ b/N052/stretch3/dr_off/seed_1001/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/xc536_atomic/n052_str_off_1001/out/rec/memorystage/000 --- episode file episode_000000.parquet: 1879 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1879 at dataset fps 25 = 75.16 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1879 rows vs ceil(3757/2) = 1879 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..3817, step differences [2] diff --git a/N052/stretch3/dr_off/seed_1001/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_off/seed_1001/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 1234eedcec7fe6275f0b37fbcb280f45340bd744..22473e439b4bd4dbcdcfcc2097b8794ec70c2d5b 100644 --- a/N052/stretch3/dr_off/seed_1001/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_off/seed_1001/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1879, "magicsim/control_steps": 3757, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is behind the white st wall r. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1879, "magicsim/control_steps": 3757, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is behind the white st wall r. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_off/seed_1001/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_off/seed_1001/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 44a641106fc56482d962844b059b3ec5b6445a02..2295433acb082f080d27c802c66729607b546685 100644 --- a/N052/stretch3/dr_off/seed_1001/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_off/seed_1001/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_off/seed_1001/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_off/seed_1001/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_off/seed_1001/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_off/seed_1001/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_off/seed_1002/rec/check.json b/N052/stretch3/dr_off/seed_1002/rec/check.json index 478efcf749b48aff5f5678007491f921c0777503..107ca4fd79ec47a419b05754a9a1db2906d30900 100644 --- a/N052/stretch3/dr_off/seed_1002/rec/check.json +++ b/N052/stretch3/dr_off/seed_1002/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_off/seed_1002/rec/check.txt b/N052/stretch3/dr_off/seed_1002/rec/check.txt index 399343d8f22f4fa195783fa561ccf8c28a9c1817..b1eb02bb59399f08855c7a24eca8298f848b470a 100644 --- a/N052/stretch3/dr_off/seed_1002/rec/check.txt +++ b/N052/stretch3/dr_off/seed_1002/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/xc536_atomic/n052_str_off_1002/out/rec/memorystage/000 --- episode file episode_000000.parquet: 1924 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1924 at dataset fps 25 = 76.96 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1924 rows vs ceil(3848/2) = 1924 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..3907, step differences [2] diff --git a/N052/stretch3/dr_off/seed_1002/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_off/seed_1002/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 60c8317092485d5ff38ddba12a27b21254185d3d..ea7956375d75fd166563932a4745342161cad84c 100644 --- a/N052/stretch3/dr_off/seed_1002/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_off/seed_1002/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1924, "magicsim/control_steps": 3848, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is in front of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1924, "magicsim/control_steps": 3848, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is in front of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_off/seed_1002/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_off/seed_1002/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index abd8df3351e31b5c7c464012d23f92a4e0fe0f29..e90efa666a5eb1c6c252d98e4598f08ebbba80fd 100644 --- a/N052/stretch3/dr_off/seed_1002/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_off/seed_1002/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_off/seed_1002/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_off/seed_1002/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_off/seed_1002/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_off/seed_1002/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_off/seed_1003/rec/check.json b/N052/stretch3/dr_off/seed_1003/rec/check.json index 7545f4a5552f62cb34002b6d86fa5f64ac2f231d..3de9ade79e91fbba4f7ea3cac17093b2a2a9f7cc 100644 --- a/N052/stretch3/dr_off/seed_1003/rec/check.json +++ b/N052/stretch3/dr_off/seed_1003/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_off/seed_1003/rec/check.txt b/N052/stretch3/dr_off/seed_1003/rec/check.txt index bb43aeedba3af00e420599de2d16615e309fabcc..dd9a9aee74b731345818b6ba50a17f94c4688559 100644 --- a/N052/stretch3/dr_off/seed_1003/rec/check.txt +++ b/N052/stretch3/dr_off/seed_1003/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/xc536_atomic/n052_str_off_1003/out/rec/memorystage/000 --- episode file episode_000000.parquet: 2810 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 2810 at dataset fps 25 = 112.40 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2810 rows vs ceil(5620/2) = 2810 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..5679, step differences [2] diff --git a/N052/stretch3/dr_off/seed_1003/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_off/seed_1003/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 4ce198ecd98f3c79bd378ea571f1b2599ef36e06..ce481cc611c0e57d6e154f0bb8bd0c8d0cefeee8 100644 --- a/N052/stretch3/dr_off/seed_1003/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_off/seed_1003/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 2810, "magicsim/control_steps": 5620, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 2810, "magicsim/control_steps": 5620, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, slightly above table height."} diff --git a/N052/stretch3/dr_off/seed_1003/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_off/seed_1003/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index cf0493c4525952f536dc15efbd952b891f403f0b..1efc776f68b4555a6074df46f72eee9f5be5df3e 100644 --- a/N052/stretch3/dr_off/seed_1003/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_off/seed_1003/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_off/seed_1003/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_off/seed_1003/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_off/seed_1003/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_off/seed_1003/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_off/seed_1004/rec/check.json b/N052/stretch3/dr_off/seed_1004/rec/check.json index 4a67d869bcf7168b334cc36226224d7a9ef68c31..8be75e4930b3395dc14e85df92f03b6db2fa58fd 100644 --- a/N052/stretch3/dr_off/seed_1004/rec/check.json +++ b/N052/stretch3/dr_off/seed_1004/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_off/seed_1004/rec/check.txt b/N052/stretch3/dr_off/seed_1004/rec/check.txt index 28b28c8a24d5f9803e9a7e7eb67582431743ae1f..dc09ccdd6b35f388c0b98a3bb7639213b1eaee79 100644 --- a/N052/stretch3/dr_off/seed_1004/rec/check.txt +++ b/N052/stretch3/dr_off/seed_1004/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/xc536_atomic/n052_str_off_1004/out/rec/memorystage/000 --- episode file episode_000000.parquet: 1887 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1887 at dataset fps 25 = 75.48 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1887 rows vs ceil(3773/2) = 1887 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..3833, step differences [2] diff --git a/N052/stretch3/dr_off/seed_1004/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_off/seed_1004/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 62124894dac56252d579579dae296038aaa6db81..255794183f30bcb69f10ab94a34fe1d83a6a147e 100644 --- a/N052/stretch3/dr_off/seed_1004/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_off/seed_1004/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1887, "magicsim/control_steps": 3773, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the left of the white st wall r. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1887, "magicsim/control_steps": 3773, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the left of the white st wall r. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_off/seed_1004/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_off/seed_1004/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 5631c3cdc3159096cdbee2e354d03b81cdc429aa..ba046be5cdaf488af9134e48fe5dd92ee419c441 100644 --- a/N052/stretch3/dr_off/seed_1004/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_off/seed_1004/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_off/seed_1004/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_off/seed_1004/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_off/seed_1004/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_off/seed_1004/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_off/seed_1005/rec/check.json b/N052/stretch3/dr_off/seed_1005/rec/check.json index 80a1ce799e8216b43ba5d19ed3669f8250198b5c..c7fc84e672c38ec53135165082a543b0a23f4607 100644 --- a/N052/stretch3/dr_off/seed_1005/rec/check.json +++ b/N052/stretch3/dr_off/seed_1005/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_off/seed_1005/rec/check.txt b/N052/stretch3/dr_off/seed_1005/rec/check.txt index df1ae57eafc18a3b7d6df0fd264bce7c49fd7f85..1686658f77680114bcb580a5bb9e1d5e53fb33ad 100644 --- a/N052/stretch3/dr_off/seed_1005/rec/check.txt +++ b/N052/stretch3/dr_off/seed_1005/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/xc536_atomic/n052_str_off_1005/out/rec/memorystage/000 --- episode file episode_000000.parquet: 2573 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 2573 at dataset fps 25 = 102.92 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2573 rows vs ceil(5145/2) = 2573 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..5205, step differences [2] diff --git a/N052/stretch3/dr_off/seed_1005/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_off/seed_1005/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 9bdf9c3789e467fe927272c3a04b3e20c453eec9..6391108dda6269ab0bad6a37424b1a6a74125932 100644 --- a/N052/stretch3/dr_off/seed_1005/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_off/seed_1005/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 2573, "magicsim/control_steps": 5145, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is in front of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 2573, "magicsim/control_steps": 5145, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is in front of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_off/seed_1005/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_off/seed_1005/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 73eedce239b914e3e0a2cd46a075ad3174623351..9e251c89e6f21bc3378bdbd13fa2874446de1459 100644 --- a/N052/stretch3/dr_off/seed_1005/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_off/seed_1005/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_off/seed_1005/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_off/seed_1005/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_off/seed_1005/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_off/seed_1005/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_off/seed_1006/rec/check.json b/N052/stretch3/dr_off/seed_1006/rec/check.json index 96e23b9a20fe00495d8cb45d8f9ab938139a1a6b..d3eb9bc64bbd1a69654909c8e19ac3c30d15f536 100644 --- a/N052/stretch3/dr_off/seed_1006/rec/check.json +++ b/N052/stretch3/dr_off/seed_1006/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_off/seed_1006/rec/check.txt b/N052/stretch3/dr_off/seed_1006/rec/check.txt index da2a3bbf612755d3a2355c2226b8eb1611b2dc35..0d892fc5cae796024c86877238d75dad50d5836d 100644 --- a/N052/stretch3/dr_off/seed_1006/rec/check.txt +++ b/N052/stretch3/dr_off/seed_1006/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/xc536_atomic/n052_str_off_1006/out/rec/memorystage/000 --- episode file episode_000000.parquet: 1913 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1913 at dataset fps 25 = 76.52 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1913 rows vs ceil(3826/2) = 1913 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..3885, step differences [2] diff --git a/N052/stretch3/dr_off/seed_1006/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_off/seed_1006/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 4003e9dff9c3f40220f417698a77c6f08316fe9b..56ead37bd4d6c01612e3011f971d001279693c5b 100644 --- a/N052/stretch3/dr_off/seed_1006/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_off/seed_1006/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1913, "magicsim/control_steps": 3826, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the right of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1913, "magicsim/control_steps": 3826, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the right of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_off/seed_1006/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_off/seed_1006/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 8cf85e21a69b5532a290a18ffa31d9f1a391bf12..36a62ee2f98f9ac6187a77237198511177b60d6c 100644 --- a/N052/stretch3/dr_off/seed_1006/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_off/seed_1006/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_off/seed_1006/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_off/seed_1006/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_off/seed_1006/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_off/seed_1006/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_off/seed_1007/rec/check.json b/N052/stretch3/dr_off/seed_1007/rec/check.json index 4ced928d68439989ce337356838a9b07051c8045..1e5d6138360169e7678e6c8d91b81ffd9e9e059d 100644 --- a/N052/stretch3/dr_off/seed_1007/rec/check.json +++ b/N052/stretch3/dr_off/seed_1007/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_off/seed_1007/rec/check.txt b/N052/stretch3/dr_off/seed_1007/rec/check.txt index 83cd89041a49ecd93c2e49b426cdbaa8a9e65253..b6ad40a7b85f475faf99b617f5e40a742a993582 100644 --- a/N052/stretch3/dr_off/seed_1007/rec/check.txt +++ b/N052/stretch3/dr_off/seed_1007/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/xc536_atomic/n052_str_off_1007/out/rec/memorystage/000 --- episode file episode_000000.parquet: 2817 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 2817 at dataset fps 25 = 112.68 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2817 rows vs ceil(5633/2) = 2817 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..5693, step differences [2] diff --git a/N052/stretch3/dr_off/seed_1007/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_off/seed_1007/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 1af3314a9568c5e8693fb1e8ce375c3094759afc..4b94ab07e82cc190a34b0c6c1c9174136b430c65 100644 --- a/N052/stretch3/dr_off/seed_1007/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_off/seed_1007/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 2817, "magicsim/control_steps": 5633, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the right of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 2817, "magicsim/control_steps": 5633, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the right of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_off/seed_1007/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_off/seed_1007/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 972942e90e0297cf61859d1819b3f84fbb08c360..214571f1c9675ceb5167b1c4c17e3e79e3fef796 100644 --- a/N052/stretch3/dr_off/seed_1007/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_off/seed_1007/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_off/seed_1007/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_off/seed_1007/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_off/seed_1007/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_off/seed_1007/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_off/seed_1008/rec/check.json b/N052/stretch3/dr_off/seed_1008/rec/check.json index c2096e02f160082b430fed32eeb780857b89adc7..0fa4c9795cb4bed0eb4b81b5bad334640e13424f 100644 --- a/N052/stretch3/dr_off/seed_1008/rec/check.json +++ b/N052/stretch3/dr_off/seed_1008/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_off/seed_1008/rec/check.txt b/N052/stretch3/dr_off/seed_1008/rec/check.txt index ea938b4d905729d4ec69e87ae93f88e43c606d71..097330da6e1c875de4b324af37a744423447b237 100644 --- a/N052/stretch3/dr_off/seed_1008/rec/check.txt +++ b/N052/stretch3/dr_off/seed_1008/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/xc536_atomic/n052_str_off_1008/out/rec/memorystage/000 --- episode file episode_000000.parquet: 2776 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 2776 at dataset fps 25 = 111.04 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2776 rows vs ceil(5552/2) = 2776 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..5611, step differences [2] diff --git a/N052/stretch3/dr_off/seed_1008/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_off/seed_1008/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 1bf76549f85e099ae565379f28939949112e4234..dd591b9b5ab25f9d1354a98e90b64f391407cc8b 100644 --- a/N052/stretch3/dr_off/seed_1008/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_off/seed_1008/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 2776, "magicsim/control_steps": 5552, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the left of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 2776, "magicsim/control_steps": 5552, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the left of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_off/seed_1008/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_off/seed_1008/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 16dffc491bfa59ce5f0479d4a06494202e78252f..f6498122dc61e0593efdee4c974f28994aafb1b7 100644 --- a/N052/stretch3/dr_off/seed_1008/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_off/seed_1008/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_off/seed_1008/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_off/seed_1008/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_off/seed_1008/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_off/seed_1008/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_off/seed_1009/rec/check.json b/N052/stretch3/dr_off/seed_1009/rec/check.json index 27e6b0b921d68a4833ed7f54c16805e4d118efd8..942b9cb7c48d7e743c453751bbadf21634beae0f 100644 --- a/N052/stretch3/dr_off/seed_1009/rec/check.json +++ b/N052/stretch3/dr_off/seed_1009/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_off/seed_1009/rec/check.txt b/N052/stretch3/dr_off/seed_1009/rec/check.txt index 10be4f1aebb13ec93a413d8d8b299f9da6835e09..c8115dc166ebebcf17d1db01cfd29f06646d0136 100644 --- a/N052/stretch3/dr_off/seed_1009/rec/check.txt +++ b/N052/stretch3/dr_off/seed_1009/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/xc536_atomic/n052_str_off_1009/out/rec/memorystage/000 --- episode file episode_000000.parquet: 1902 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1902 at dataset fps 25 = 76.08 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1902 rows vs ceil(3803/2) = 1902 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..3863, step differences [2] diff --git a/N052/stretch3/dr_off/seed_1009/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_off/seed_1009/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index fbc2b872ada6dccea069aedcb624a94befb795db..890c186e9e998b345572e818a65acf2b69ea529c 100644 --- a/N052/stretch3/dr_off/seed_1009/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_off/seed_1009/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1902, "magicsim/control_steps": 3803, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the right of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1902, "magicsim/control_steps": 3803, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the right of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_off/seed_1009/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_off/seed_1009/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 92b117b0823722232b47e8a0e47790c8f79354ac..868f906b4833a38b18800f07088e418de422a8a1 100644 --- a/N052/stretch3/dr_off/seed_1009/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_off/seed_1009/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_off/seed_1009/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_off/seed_1009/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_off/seed_1009/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_off/seed_1009/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_off/seed_5021/rec/check.json b/N052/stretch3/dr_off/seed_5021/rec/check.json index 73d1fc542f59655a64b450bb67678c3a0ff37afa..1df2e49b05a2fe4ebf5d9b4f189379a80a6b7f3d 100644 --- a/N052/stretch3/dr_off/seed_5021/rec/check.json +++ b/N052/stretch3/dr_off/seed_5021/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_off/seed_5021/rec/check.txt b/N052/stretch3/dr_off/seed_5021/rec/check.txt index 9a0dbd35012ce07783d3caf5715c594932676b66..e6ae171fec5cc0ce8d9fcfef44a613110114162e 100644 --- a/N052/stretch3/dr_off/seed_5021/rec/check.txt +++ b/N052/stretch3/dr_off/seed_5021/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_off_5021/out/rec/memorystage/000 --- episode file episode_000000.parquet: 2793 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 2793 at dataset fps 25 = 111.72 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2793 rows vs ceil(5585/2) = 2793 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..5645, step differences [2] diff --git a/N052/stretch3/dr_off/seed_5021/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_off/seed_5021/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 99629220c2523a8d7d3ea06378507f19c04a4f6a..8936ff9891335acccac5e8e9f96bb4428b0cdba2 100644 --- a/N052/stretch3/dr_off/seed_5021/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_off/seed_5021/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 2793, "magicsim/control_steps": 5585, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the left of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 2793, "magicsim/control_steps": 5585, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the left of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, slightly above table height."} diff --git a/N052/stretch3/dr_off/seed_5021/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_off/seed_5021/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 5080681f0f8255941d3e20e50b51b6d1b67832e4..ce0a539febeb574125ead188132fb2da8e48479c 100644 --- a/N052/stretch3/dr_off/seed_5021/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_off/seed_5021/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_off/seed_5021/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_off/seed_5021/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_off/seed_5021/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_off/seed_5021/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_off/seed_5022/rec/check.json b/N052/stretch3/dr_off/seed_5022/rec/check.json index bd08edab43d1826fa23ccf1e58e17be25205f600..affda7f5a8152dbe5d4328244e055da7c19fdabd 100644 --- a/N052/stretch3/dr_off/seed_5022/rec/check.json +++ b/N052/stretch3/dr_off/seed_5022/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_off/seed_5022/rec/check.txt b/N052/stretch3/dr_off/seed_5022/rec/check.txt index ed5e8016be08c4aff6996599a0542e26d4ef80bc..89fa290e0f61eddaa666650eb13fe24a18b8e637 100644 --- a/N052/stretch3/dr_off/seed_5022/rec/check.txt +++ b/N052/stretch3/dr_off/seed_5022/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_off_5022/out/rec/memorystage/000 --- episode file episode_000000.parquet: 2837 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 2837 at dataset fps 25 = 113.48 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2837 rows vs ceil(5673/2) = 2837 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..5733, step differences [2] diff --git a/N052/stretch3/dr_off/seed_5022/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_off/seed_5022/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 335c0d00b8a6ce114987ece3763e568fd67b286c..e7a81fc8c26d1e898bc656f9328f4aefc9871741 100644 --- a/N052/stretch3/dr_off/seed_5022/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_off/seed_5022/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 2837, "magicsim/control_steps": 5673, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the left of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 2837, "magicsim/control_steps": 5673, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the left of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_off/seed_5022/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_off/seed_5022/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index bcb7807fa2c800e6cf12dfe265bdfd55488fd930..5fd1a7a56b9ebba87e7c9bad90b07d20bfa2e848 100644 --- a/N052/stretch3/dr_off/seed_5022/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_off/seed_5022/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_off/seed_5022/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_off/seed_5022/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_off/seed_5022/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_off/seed_5022/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_off/seed_5023/rec/check.json b/N052/stretch3/dr_off/seed_5023/rec/check.json index 5259134ce0c6ffbaaaad15b2d52e14abf4e0f038..45a4cef1d445fd0ae741570a0f15db2d1ccab43f 100644 --- a/N052/stretch3/dr_off/seed_5023/rec/check.json +++ b/N052/stretch3/dr_off/seed_5023/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_off/seed_5023/rec/check.txt b/N052/stretch3/dr_off/seed_5023/rec/check.txt index 32cc5b8f5a0d6dc26b493899f0fe2fae082df933..b8d120b6e0523b5eb3ed9eb161cb9d7d6c04eb11 100644 --- a/N052/stretch3/dr_off/seed_5023/rec/check.txt +++ b/N052/stretch3/dr_off/seed_5023/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_off_5023/out/rec/memorystage/000 --- episode file episode_000000.parquet: 2775 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 2775 at dataset fps 25 = 111.00 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2775 rows vs ceil(5550/2) = 2775 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..5609, step differences [2] diff --git a/N052/stretch3/dr_off/seed_5023/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_off/seed_5023/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 1a0566ef81d791e873ca09d654806aa6db797d1c..e01247b2f3487b0fc996ffe55e6e72ad3cc7e5bc 100644 --- a/N052/stretch3/dr_off/seed_5023/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_off/seed_5023/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 2775, "magicsim/control_steps": 5550, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is in front of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 2775, "magicsim/control_steps": 5550, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is in front of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_off/seed_5023/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_off/seed_5023/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index f2c6b9d1b0734f5b3cd2364ddd99655be90be199..c4de2a854b00739aeed55ace1c12a4ab2c2cab21 100644 --- a/N052/stretch3/dr_off/seed_5023/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_off/seed_5023/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_off/seed_5023/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_off/seed_5023/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_off/seed_5023/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_off/seed_5023/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_off/seed_5024/rec/check.json b/N052/stretch3/dr_off/seed_5024/rec/check.json index 86480d771256fb7b08cef9de6f24d091bcae9a92..d1fece1c5cd3a0862ef02adfeb2a127507636bf6 100644 --- a/N052/stretch3/dr_off/seed_5024/rec/check.json +++ b/N052/stretch3/dr_off/seed_5024/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_off/seed_5024/rec/check.txt b/N052/stretch3/dr_off/seed_5024/rec/check.txt index 3b50de8c5deab6a51980c9f6386d9289eb6939a7..2581d5bd6aaf003ed08ef38efe59d75839bfff1f 100644 --- a/N052/stretch3/dr_off/seed_5024/rec/check.txt +++ b/N052/stretch3/dr_off/seed_5024/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_off_5024/out/rec/memorystage/000 --- episode file episode_000000.parquet: 2805 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 2805 at dataset fps 25 = 112.20 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2805 rows vs ceil(5610/2) = 2805 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..5669, step differences [2] diff --git a/N052/stretch3/dr_off/seed_5024/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_off/seed_5024/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 04d07205d33026a007a739c1c42388fc42eb55cb..1fe7c67a7d637d571c550a384bd4ddc2a716a88a 100644 --- a/N052/stretch3/dr_off/seed_5024/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_off/seed_5024/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 2805, "magicsim/control_steps": 5610, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 2805, "magicsim/control_steps": 5610, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, slightly above table height."} diff --git a/N052/stretch3/dr_off/seed_5024/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_off/seed_5024/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 46c2d05a20e0581c89a15c3b1e43674e37b76903..4947a04d74b890eff4deaa5b44fc48f8e9a11282 100644 --- a/N052/stretch3/dr_off/seed_5024/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_off/seed_5024/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_off/seed_5024/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_off/seed_5024/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_off/seed_5024/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_off/seed_5024/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_off/seed_5025/rec/check.json b/N052/stretch3/dr_off/seed_5025/rec/check.json index eebe4104e9cc65d9c9c712c11812b664aca0ab9e..415df6d0f187c493c86b97cef398f1b94de09f25 100644 --- a/N052/stretch3/dr_off/seed_5025/rec/check.json +++ b/N052/stretch3/dr_off/seed_5025/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_off/seed_5025/rec/check.txt b/N052/stretch3/dr_off/seed_5025/rec/check.txt index 56325fcf94c84489eeef7abdcf5a7f17dff4f8c9..bb3b0628d8d9fd3e8ab159d75c077eb67c46ee68 100644 --- a/N052/stretch3/dr_off/seed_5025/rec/check.txt +++ b/N052/stretch3/dr_off/seed_5025/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_off_5025/out/rec/memorystage/000 --- episode file episode_000000.parquet: 1921 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1921 at dataset fps 25 = 76.84 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1921 rows vs ceil(3841/2) = 1921 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..3901, step differences [2] diff --git a/N052/stretch3/dr_off/seed_5025/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_off/seed_5025/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index a3b0353c0ab1a085b36a7f0074ba5149874c2870..ec720ed64216eb1e7e371a78e0458013956df0c3 100644 --- a/N052/stretch3/dr_off/seed_5025/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_off/seed_5025/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1921, "magicsim/control_steps": 3841, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1921, "magicsim/control_steps": 3841, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, slightly above table height."} diff --git a/N052/stretch3/dr_off/seed_5025/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_off/seed_5025/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index f9651cd15757e7388083a7e20a0b131a9fda975b..a783e24b03ca96418907b9277aa3887714a41026 100644 --- a/N052/stretch3/dr_off/seed_5025/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_off/seed_5025/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_off/seed_5025/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_off/seed_5025/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_off/seed_5025/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_off/seed_5025/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_off/seed_5027/rec/check.json b/N052/stretch3/dr_off/seed_5027/rec/check.json index faee2595291952e3c4648abd940696c01d445572..71816de38490c855bd66bfee927083cdd3adb98b 100644 --- a/N052/stretch3/dr_off/seed_5027/rec/check.json +++ b/N052/stretch3/dr_off/seed_5027/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_off/seed_5027/rec/check.txt b/N052/stretch3/dr_off/seed_5027/rec/check.txt index 85e682dcbfbf56560bfd6fb904e73aefaa24c7a1..bfc496c9477556431934a67acb1a70b8838b3758 100644 --- a/N052/stretch3/dr_off/seed_5027/rec/check.txt +++ b/N052/stretch3/dr_off/seed_5027/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_off_5027/out/rec/memorystage/000 --- episode file episode_000000.parquet: 1895 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1895 at dataset fps 25 = 75.80 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1895 rows vs ceil(3789/2) = 1895 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..3849, step differences [2] diff --git a/N052/stretch3/dr_off/seed_5027/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_off/seed_5027/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index e005fe113170397d4183c6251361a81f3fcc6bec..7f6556fcc3e3236f2d38d64d051eac2a8ec91586 100644 --- a/N052/stretch3/dr_off/seed_5027/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_off/seed_5027/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1895, "magicsim/control_steps": 3789, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1895, "magicsim/control_steps": 3789, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, slightly above table height."} diff --git a/N052/stretch3/dr_off/seed_5027/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_off/seed_5027/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 69b1554b235888a30ffd3003120df0e76a425366..1900a5291960cee11bf8f54304bb8bcd2c2d83f0 100644 --- a/N052/stretch3/dr_off/seed_5027/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_off/seed_5027/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_off/seed_5027/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_off/seed_5027/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_off/seed_5027/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_off/seed_5027/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_off/seed_5028/rec/check.json b/N052/stretch3/dr_off/seed_5028/rec/check.json index e9f9e6eae622f5e91aa829378a97106037cd0fab..d264440dfa9f82ac2ec49e9071b92ee21f4f4b10 100644 --- a/N052/stretch3/dr_off/seed_5028/rec/check.json +++ b/N052/stretch3/dr_off/seed_5028/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_off/seed_5028/rec/check.txt b/N052/stretch3/dr_off/seed_5028/rec/check.txt index a755a369fa24cb182fd7dc421d7dab5aae50c3f1..ac67f066e4a4926b3aace03d10ef48b3d6c1d317 100644 --- a/N052/stretch3/dr_off/seed_5028/rec/check.txt +++ b/N052/stretch3/dr_off/seed_5028/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_off_5028/out/rec/memorystage/000 --- episode file episode_000000.parquet: 1906 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1906 at dataset fps 25 = 76.24 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1906 rows vs ceil(3811/2) = 1906 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..3871, step differences [2] diff --git a/N052/stretch3/dr_off/seed_5028/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_off/seed_5028/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index caaed41044d710bb6199fba6dcd8c271c0a54b98..70f2651827f6c3fef9919e4d8f86a696d962e5e6 100644 --- a/N052/stretch3/dr_off/seed_5028/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_off/seed_5028/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1906, "magicsim/control_steps": 3811, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is in front of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1906, "magicsim/control_steps": 3811, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is in front of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_off/seed_5028/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_off/seed_5028/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 6d776d14e95ecb0c25c2b16459d80d38acfb3592..67f18b1d1e55bc981f98ccebc9d8899ffebcf685 100644 --- a/N052/stretch3/dr_off/seed_5028/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_off/seed_5028/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_off/seed_5028/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_off/seed_5028/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_off/seed_5028/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_off/seed_5028/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_off/seed_5029/rec/check.json b/N052/stretch3/dr_off/seed_5029/rec/check.json index 831fdd41123f9254e2432eb13158b382a9c4f31e..eb91b51d9d16882dfc47975119fde97407fe803f 100644 --- a/N052/stretch3/dr_off/seed_5029/rec/check.json +++ b/N052/stretch3/dr_off/seed_5029/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_off/seed_5029/rec/check.txt b/N052/stretch3/dr_off/seed_5029/rec/check.txt index 559a4b004c5ee0522047f2ac8791f813845bf67f..56de85f2207ac9543c05eeee70df770916759568 100644 --- a/N052/stretch3/dr_off/seed_5029/rec/check.txt +++ b/N052/stretch3/dr_off/seed_5029/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_off_5029/out/rec/memorystage/000 --- episode file episode_000000.parquet: 1872 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1872 at dataset fps 25 = 74.88 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1872 rows vs ceil(3744/2) = 1872 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..3803, step differences [2] diff --git a/N052/stretch3/dr_off/seed_5029/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_off/seed_5029/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index ff191b23fb7cea3ae4b6570fa2295818499c9692..3c467bb164605787a7b2bf8f6e720700a6b3e483 100644 --- a/N052/stretch3/dr_off/seed_5029/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_off/seed_5029/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1872, "magicsim/control_steps": 3744, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is in front of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1872, "magicsim/control_steps": 3744, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is in front of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_off/seed_5029/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_off/seed_5029/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 953c95a273a2a57f3a2f3ef9d05e45d7cea363ca..32f55ebbac40a9bc923d00becdfd53e256bca981 100644 --- a/N052/stretch3/dr_off/seed_5029/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_off/seed_5029/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_off/seed_5029/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_off/seed_5029/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_off/seed_5029/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_off/seed_5029/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_off/seed_5030/rec/check.json b/N052/stretch3/dr_off/seed_5030/rec/check.json index d8ca9162133407de072b4927d830762300b8f005..2758b229b89e3ac00f9a5a516f6dd5493ee793d8 100644 --- a/N052/stretch3/dr_off/seed_5030/rec/check.json +++ b/N052/stretch3/dr_off/seed_5030/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_off/seed_5030/rec/check.txt b/N052/stretch3/dr_off/seed_5030/rec/check.txt index 0b330db074ebff1de1ea9f33797100b3c62f76dd..46ca0ec0177b689e53b2dcd52c39d310419f0aa4 100644 --- a/N052/stretch3/dr_off/seed_5030/rec/check.txt +++ b/N052/stretch3/dr_off/seed_5030/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_off_5030/out/rec/memorystage/000 --- episode file episode_000000.parquet: 1867 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1867 at dataset fps 25 = 74.68 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1867 rows vs ceil(3734/2) = 1867 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..3793, step differences [2] diff --git a/N052/stretch3/dr_off/seed_5030/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_off/seed_5030/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 165246c63a8e558dd3e68819472a680522947b50..51f61b0765d46eda29685400aac8372630895419 100644 --- a/N052/stretch3/dr_off/seed_5030/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_off/seed_5030/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1867, "magicsim/control_steps": 3734, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the left of the white st wall r. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1867, "magicsim/control_steps": 3734, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the left of the white st wall r. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, slightly above table height."} diff --git a/N052/stretch3/dr_off/seed_5030/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_off/seed_5030/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 5d8653d4dfe68672bfa398c6e9a6ad14e006e867..3cb3b421ec57e30299b92cf50772bbc3cc9a9e13 100644 --- a/N052/stretch3/dr_off/seed_5030/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_off/seed_5030/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_off/seed_5030/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_off/seed_5030/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_off/seed_5030/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_off/seed_5030/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_off/seed_5031/rec/check.json b/N052/stretch3/dr_off/seed_5031/rec/check.json index c528099b5378ed144a0a8930b0f37acb6a9f3e3b..916a08a224656b19b21d1d7d09402b1b4188e931 100644 --- a/N052/stretch3/dr_off/seed_5031/rec/check.json +++ b/N052/stretch3/dr_off/seed_5031/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_off/seed_5031/rec/check.txt b/N052/stretch3/dr_off/seed_5031/rec/check.txt index c4671aadc1888ef00b73d232f577bbe46f64bb91..a3160f3b1d892d9638ae25dfa9360c6f89720ea1 100644 --- a/N052/stretch3/dr_off/seed_5031/rec/check.txt +++ b/N052/stretch3/dr_off/seed_5031/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_off_5031/out/rec/memorystage/000 --- episode file episode_000000.parquet: 1908 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1908 at dataset fps 25 = 76.32 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1908 rows vs ceil(3815/2) = 1908 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..3875, step differences [2] diff --git a/N052/stretch3/dr_off/seed_5031/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_off/seed_5031/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index b09d1555fb458fcae6004367645786d358498ccf..99b9c04ab8f6ca108a43f574883902a27451f270 100644 --- a/N052/stretch3/dr_off/seed_5031/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_off/seed_5031/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1908, "magicsim/control_steps": 3815, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1908, "magicsim/control_steps": 3815, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_off/seed_5031/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_off/seed_5031/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 8cbdbe993c73ca5e82fde9b793c4ef3d1d43017b..045fbdb2c5c11e6ae71164e4f43c16adfceae948 100644 --- a/N052/stretch3/dr_off/seed_5031/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_off/seed_5031/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_off/seed_5031/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_off/seed_5031/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_off/seed_5031/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_off/seed_5031/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_off/seed_5032/rec/check.json b/N052/stretch3/dr_off/seed_5032/rec/check.json index d694e4d016d0eaf19c292659a156e45e2a14c21d..f3dd58da2a32a05e2ccc6fcd2ab2558be19b0dde 100644 --- a/N052/stretch3/dr_off/seed_5032/rec/check.json +++ b/N052/stretch3/dr_off/seed_5032/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_off/seed_5032/rec/check.txt b/N052/stretch3/dr_off/seed_5032/rec/check.txt index 05813255617a6e86247f97e3c08163acf17da17f..3ed988306d2003ec1cfe656ff0b3d86316ed83fc 100644 --- a/N052/stretch3/dr_off/seed_5032/rec/check.txt +++ b/N052/stretch3/dr_off/seed_5032/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_off_5032/out/rec/memorystage/000 --- episode file episode_000000.parquet: 1896 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1896 at dataset fps 25 = 75.84 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1896 rows vs ceil(3792/2) = 1896 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..3851, step differences [2] diff --git a/N052/stretch3/dr_off/seed_5032/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_off/seed_5032/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 0ff552850b5f635a6a4ef7b1ba0723c3c19773df..4aedbe44c0b3fa4ea70b02a1ff1fe71336f844ff 100644 --- a/N052/stretch3/dr_off/seed_5032/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_off/seed_5032/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1896, "magicsim/control_steps": 3792, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is in front of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1896, "magicsim/control_steps": 3792, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is in front of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_off/seed_5032/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_off/seed_5032/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 6ec1210f58c707ae437828a794c196b02aa5a467..81ddedb7181b32e51f30698504a53b7986d99de6 100644 --- a/N052/stretch3/dr_off/seed_5032/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_off/seed_5032/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_off/seed_5032/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_off/seed_5032/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_off/seed_5032/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_off/seed_5032/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_off/seed_5033/rec/check.json b/N052/stretch3/dr_off/seed_5033/rec/check.json index e15559713bfc477bcc3b9c6e653b94353ef62a2b..077914426ed2722071b5cde9ad4d6b4b02565915 100644 --- a/N052/stretch3/dr_off/seed_5033/rec/check.json +++ b/N052/stretch3/dr_off/seed_5033/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_off/seed_5033/rec/check.txt b/N052/stretch3/dr_off/seed_5033/rec/check.txt index 6248c4a46c8c53ff5057d422aac6c91eeb936364..5406ae0b08e8a74d62491065d3fd2bf044ead593 100644 --- a/N052/stretch3/dr_off/seed_5033/rec/check.txt +++ b/N052/stretch3/dr_off/seed_5033/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_off_5033_r2/out/rec/memorystage/ --- episode file episode_000000.parquet: 1907 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1907 at dataset fps 25 = 76.28 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1907 rows vs ceil(3814/2) = 1907 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..3873, step differences [2] diff --git a/N052/stretch3/dr_off/seed_5033/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_off/seed_5033/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 1f18951d979a5dee5d85245c3e5947880ed7c3f0..fa6e826265df97438e03d0ed68b2f5a7f325a49e 100644 --- a/N052/stretch3/dr_off/seed_5033/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_off/seed_5033/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1907, "magicsim/control_steps": 3814, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the left of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1907, "magicsim/control_steps": 3814, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the left of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_off/seed_5033/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_off/seed_5033/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 91afa7cbef31fe2b22b6455d926fbcadc2a9ca54..55b7ab7c35b3b6421b9874ce3b5ab20bc343b8f4 100644 --- a/N052/stretch3/dr_off/seed_5033/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_off/seed_5033/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_off/seed_5033/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_off/seed_5033/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_off/seed_5033/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_off/seed_5033/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_off/seed_5034/rec/check.json b/N052/stretch3/dr_off/seed_5034/rec/check.json index f4c6014db8f23d477b7e19a5bc47c3a1a1163360..aa81df145a1ab422c20cade5a32835155a184959 100644 --- a/N052/stretch3/dr_off/seed_5034/rec/check.json +++ b/N052/stretch3/dr_off/seed_5034/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_off/seed_5034/rec/check.txt b/N052/stretch3/dr_off/seed_5034/rec/check.txt index 98b525d1ce5c7abb9b0afdd02a63fcc730ab3a6c..a4843739e9ac53731dfc898c34c454d974a56a79 100644 --- a/N052/stretch3/dr_off/seed_5034/rec/check.txt +++ b/N052/stretch3/dr_off/seed_5034/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_off_5034/out/rec/memorystage/000 --- episode file episode_000000.parquet: 2783 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 2783 at dataset fps 25 = 111.32 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2783 rows vs ceil(5566/2) = 2783 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..5625, step differences [2] diff --git a/N052/stretch3/dr_off/seed_5034/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_off/seed_5034/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 72d40b20b1fbc1ec25a25da6452abc2a8b1e6b3c..75996a4cdfbae52f488530007802d82305c216b6 100644 --- a/N052/stretch3/dr_off/seed_5034/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_off/seed_5034/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 2783, "magicsim/control_steps": 5566, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 2783, "magicsim/control_steps": 5566, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_off/seed_5034/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_off/seed_5034/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index c072a537f41da08800557b09a60ec5ed08d6ec65..447d011a530c24ceaacb99c7b6f8fc3ffe33c1ff 100644 --- a/N052/stretch3/dr_off/seed_5034/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_off/seed_5034/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_off/seed_5034/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_off/seed_5034/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_off/seed_5034/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_off/seed_5034/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_off/seed_5035/rec/check.json b/N052/stretch3/dr_off/seed_5035/rec/check.json index 82cb5e7a5df1c80e9836c879872c8f85e906d555..b753af14c21ba34fcd533048d74ca745407023eb 100644 --- a/N052/stretch3/dr_off/seed_5035/rec/check.json +++ b/N052/stretch3/dr_off/seed_5035/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_off/seed_5035/rec/check.txt b/N052/stretch3/dr_off/seed_5035/rec/check.txt index a2e11df88ca75d139ef64c9fd4bf46690460f0f8..044c5c014f8eee021ceb67f6e70c737b9b9710dd 100644 --- a/N052/stretch3/dr_off/seed_5035/rec/check.txt +++ b/N052/stretch3/dr_off/seed_5035/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_off_5035/out/rec/memorystage/000 --- episode file episode_000000.parquet: 1921 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1921 at dataset fps 25 = 76.84 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1921 rows vs ceil(3841/2) = 1921 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..3901, step differences [2] diff --git a/N052/stretch3/dr_off/seed_5035/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_off/seed_5035/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 25be6799b360882ce8dd181f27d8c488eb131385..23cc053c22076543843bc3db16cc10cb88f807dd 100644 --- a/N052/stretch3/dr_off/seed_5035/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_off/seed_5035/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1921, "magicsim/control_steps": 3841, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the left of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1921, "magicsim/control_steps": 3841, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the left of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_off/seed_5035/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_off/seed_5035/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 3723696ba5ad2ad0e4dddd1ead201a69cda39607..68d8d1ee250dbcb7e6f897e8448c53199d941dcb 100644 --- a/N052/stretch3/dr_off/seed_5035/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_off/seed_5035/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_off/seed_5035/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_off/seed_5035/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_off/seed_5035/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_off/seed_5035/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_off/seed_5036/rec/check.json b/N052/stretch3/dr_off/seed_5036/rec/check.json index c0b8fc9919ea9a67fedfd7712f81e8f864849ef1..e36ff9ce5ee72dc0e4acf8cf1360667e8fdf60ee 100644 --- a/N052/stretch3/dr_off/seed_5036/rec/check.json +++ b/N052/stretch3/dr_off/seed_5036/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_off/seed_5036/rec/check.txt b/N052/stretch3/dr_off/seed_5036/rec/check.txt index 2157e38f05aaa4db5df78d2549b6150c6b8ef96e..1c6b35f5398fa55014e92028b9397930712d6819 100644 --- a/N052/stretch3/dr_off/seed_5036/rec/check.txt +++ b/N052/stretch3/dr_off/seed_5036/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_off_5036/out/rec/memorystage/000 --- episode file episode_000000.parquet: 3251 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 3251 at dataset fps 25 = 130.04 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3251 rows vs ceil(6502/2) = 3251 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6561, step differences [2] diff --git a/N052/stretch3/dr_off/seed_5036/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_off/seed_5036/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 36ceb4a73adc94483abad52acd1f37480cc7f1ac..626095549a9f98e17ac3c627c41ce6a3a634ddb9 100644 --- a/N052/stretch3/dr_off/seed_5036/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_off/seed_5036/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 3251, "magicsim/control_steps": 6502, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the right of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 3251, "magicsim/control_steps": 6502, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the right of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_off/seed_5036/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_off/seed_5036/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 2b5d3da2840e93d22d69ca91579962ccf479627c..f45acd5a8c86decb354798bcb6017316d473d12c 100644 --- a/N052/stretch3/dr_off/seed_5036/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_off/seed_5036/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_off/seed_5036/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_off/seed_5036/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_off/seed_5036/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_off/seed_5036/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_off/seed_5038/rec/check.json b/N052/stretch3/dr_off/seed_5038/rec/check.json index 28784c6dd433dbb8b8a1548a280be7b495886ac9..0c24a4f43788d2d27ebbfd8779ee780cdc3c2fa9 100644 --- a/N052/stretch3/dr_off/seed_5038/rec/check.json +++ b/N052/stretch3/dr_off/seed_5038/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_off/seed_5038/rec/check.txt b/N052/stretch3/dr_off/seed_5038/rec/check.txt index 09c792df4124ff97eef92dbfaa180e917032933d..596748924a683ffb1d087ad408ccb1812decdabd 100644 --- a/N052/stretch3/dr_off/seed_5038/rec/check.txt +++ b/N052/stretch3/dr_off/seed_5038/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_off_5038_r1/out/rec/memorystage/ --- episode file episode_000000.parquet: 2805 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 2805 at dataset fps 25 = 112.20 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2805 rows vs ceil(5609/2) = 2805 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..5669, step differences [2] diff --git a/N052/stretch3/dr_off/seed_5038/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_off/seed_5038/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index f983fe96c65b8efca702437c20c25e0197c69812..feb9697be266ba0af507898743a2569c0506e28b 100644 --- a/N052/stretch3/dr_off/seed_5038/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_off/seed_5038/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 2805, "magicsim/control_steps": 5609, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the left of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 2805, "magicsim/control_steps": 5609, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the left of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_off/seed_5038/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_off/seed_5038/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index e98d0121b9144e25891666628c80705fda3759ad..3e91eef98b5aa449834b786f5912236444b8cea5 100644 --- a/N052/stretch3/dr_off/seed_5038/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_off/seed_5038/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_off/seed_5038/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_off/seed_5038/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_off/seed_5038/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_off/seed_5038/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_off/seed_5039/rec/check.json b/N052/stretch3/dr_off/seed_5039/rec/check.json index 7bb939f822473e61c2752b98702a670be3caa466..fd57f07e0e29c27ec46d2fb21928510e4eb50f42 100644 --- a/N052/stretch3/dr_off/seed_5039/rec/check.json +++ b/N052/stretch3/dr_off/seed_5039/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_off/seed_5039/rec/check.txt b/N052/stretch3/dr_off/seed_5039/rec/check.txt index 0e7e0330e00cbabcdfc8cd2ea70be7a329cbd0cd..60846e6773456b73f8ca1ef2de2cba7aa6064a3e 100644 --- a/N052/stretch3/dr_off/seed_5039/rec/check.txt +++ b/N052/stretch3/dr_off/seed_5039/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_off_5039/out/rec/memorystage/000 --- episode file episode_000000.parquet: 1886 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1886 at dataset fps 25 = 75.44 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1886 rows vs ceil(3771/2) = 1886 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..3831, step differences [2] diff --git a/N052/stretch3/dr_off/seed_5039/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_off/seed_5039/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 02517ca61d5c3f8a88368fe20b2f813914ea00fc..d03ac95c10c582b1a29e13218449bd3dd7ac0217 100644 --- a/N052/stretch3/dr_off/seed_5039/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_off/seed_5039/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1886, "magicsim/control_steps": 3771, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1886, "magicsim/control_steps": 3771, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, slightly above table height."} diff --git a/N052/stretch3/dr_off/seed_5039/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_off/seed_5039/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 91989a04d659775aaefea369bebaf147fab256d5..d943f5c4bed6523a092fb99a8ac3ae9f76c783e0 100644 --- a/N052/stretch3/dr_off/seed_5039/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_off/seed_5039/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_off/seed_5039/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_off/seed_5039/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_off/seed_5039/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_off/seed_5039/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_off/seed_5040/rec/check.json b/N052/stretch3/dr_off/seed_5040/rec/check.json index c372c17609a5ace5b81dce9c66557e68fd5f338b..1e5360396c9e43f5c9fbd274b0bc712f0847dc1c 100644 --- a/N052/stretch3/dr_off/seed_5040/rec/check.json +++ b/N052/stretch3/dr_off/seed_5040/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_off/seed_5040/rec/check.txt b/N052/stretch3/dr_off/seed_5040/rec/check.txt index e66376b7db243b6fae84dba038ca74cd1e627e78..d8e0d538ba17b7eaf0ef2878457aacce3b4523f3 100644 --- a/N052/stretch3/dr_off/seed_5040/rec/check.txt +++ b/N052/stretch3/dr_off/seed_5040/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_off_5040/out/rec/memorystage/000 --- episode file episode_000000.parquet: 2756 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 2756 at dataset fps 25 = 110.24 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2756 rows vs ceil(5511/2) = 2756 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..5571, step differences [2] diff --git a/N052/stretch3/dr_off/seed_5040/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_off/seed_5040/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index a1b68df8f10be495c5fc6b101bd64955bd11a046..05b401ad9a34a4d388c3398d8c7c5e68e1a7ec28 100644 --- a/N052/stretch3/dr_off/seed_5040/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_off/seed_5040/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 2756, "magicsim/control_steps": 5511, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is in front of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 2756, "magicsim/control_steps": 5511, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is in front of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_off/seed_5040/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_off/seed_5040/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 19b363983f7e79564bfc91e5679ea853d10be9d1..b1f8eecb1e0bf9723521697c2fe1f08f5fdcf224 100644 --- a/N052/stretch3/dr_off/seed_5040/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_off/seed_5040/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_off/seed_5040/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_off/seed_5040/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_off/seed_5040/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_off/seed_5040/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_off/seed_5041/rec/check.json b/N052/stretch3/dr_off/seed_5041/rec/check.json index 35a20251f88dbf5cea1a87d69325424336bfb39c..d425ae502185fea1ee76bf37779cdf0dff272a7e 100644 --- a/N052/stretch3/dr_off/seed_5041/rec/check.json +++ b/N052/stretch3/dr_off/seed_5041/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_off/seed_5041/rec/check.txt b/N052/stretch3/dr_off/seed_5041/rec/check.txt index 72bd111305334b72f8cb9100ca74be3b2998b93f..cfe1106948e555cad3447cb85a6b7a9f47948257 100644 --- a/N052/stretch3/dr_off/seed_5041/rec/check.txt +++ b/N052/stretch3/dr_off/seed_5041/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_off_5041/out/rec/memorystage/000 --- episode file episode_000000.parquet: 1909 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1909 at dataset fps 25 = 76.36 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1909 rows vs ceil(3818/2) = 1909 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..3877, step differences [2] diff --git a/N052/stretch3/dr_off/seed_5041/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_off/seed_5041/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index ff9fce3647e1248a47a015af14fa2837ba0449b5..602d36b014195249d723931f7e2b3c8094f717d7 100644 --- a/N052/stretch3/dr_off/seed_5041/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_off/seed_5041/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1909, "magicsim/control_steps": 3818, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is behind the white st wall r. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1909, "magicsim/control_steps": 3818, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is behind the white st wall r. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_off/seed_5041/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_off/seed_5041/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index a382b02a1c101308978f02ccda56d69a8f65aa38..06227aa6d401c618bddfd458698c12de91fecc47 100644 --- a/N052/stretch3/dr_off/seed_5041/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_off/seed_5041/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_off/seed_5041/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_off/seed_5041/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_off/seed_5041/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_off/seed_5041/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_off/seed_5042/rec/check.json b/N052/stretch3/dr_off/seed_5042/rec/check.json index 96bb81b732d28a6fa8173e69ad22bad54492f152..be9042c47dcf75795fca2b0dba7e217521554e8e 100644 --- a/N052/stretch3/dr_off/seed_5042/rec/check.json +++ b/N052/stretch3/dr_off/seed_5042/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_off/seed_5042/rec/check.txt b/N052/stretch3/dr_off/seed_5042/rec/check.txt index ef42a7b10c63a5145fc1183b10c4b1ecd3d7c759..0f31496e2a2456af184609b90326f163b5ed8df6 100644 --- a/N052/stretch3/dr_off/seed_5042/rec/check.txt +++ b/N052/stretch3/dr_off/seed_5042/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_off_5042/out/rec/memorystage/000 --- episode file episode_000000.parquet: 2779 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 2779 at dataset fps 25 = 111.16 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2779 rows vs ceil(5558/2) = 2779 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..5617, step differences [2] diff --git a/N052/stretch3/dr_off/seed_5042/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_off/seed_5042/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 78725426511a85083cee7f80cfd32d2f99836df4..12807cfe6a7b41ccf675a64b767b4d8b93b198a5 100644 --- a/N052/stretch3/dr_off/seed_5042/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_off/seed_5042/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 2779, "magicsim/control_steps": 5558, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 2779, "magicsim/control_steps": 5558, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, slightly above table height."} diff --git a/N052/stretch3/dr_off/seed_5042/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_off/seed_5042/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 9e424bffbf241caf5290f62134a3940219623b17..c260eb3601b7072fef3bff88719346d63fedb771 100644 --- a/N052/stretch3/dr_off/seed_5042/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_off/seed_5042/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_off/seed_5042/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_off/seed_5042/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_off/seed_5042/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_off/seed_5042/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_off/seed_5043/rec/check.json b/N052/stretch3/dr_off/seed_5043/rec/check.json index 1e104dfae13d8ced96c2bbde05cf6d41e94b0941..b293733ba7e7c054cf9917ce5ee9d4e950cda6d7 100644 --- a/N052/stretch3/dr_off/seed_5043/rec/check.json +++ b/N052/stretch3/dr_off/seed_5043/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_off/seed_5043/rec/check.txt b/N052/stretch3/dr_off/seed_5043/rec/check.txt index 3a5e3b9b6b668e17e220a581d1dcb6096a83d594..36bdd77c1e0c39760f2fcf20dfbd67b673f8a09a 100644 --- a/N052/stretch3/dr_off/seed_5043/rec/check.txt +++ b/N052/stretch3/dr_off/seed_5043/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_off_5043/out/rec/memorystage/000 --- episode file episode_000000.parquet: 1888 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1888 at dataset fps 25 = 75.52 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1888 rows vs ceil(3776/2) = 1888 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..3835, step differences [2] diff --git a/N052/stretch3/dr_off/seed_5043/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_off/seed_5043/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 964ce8cb9920222baa136f66190ba3b8c785b836..9125fd0b4f19422e055b9d2b21edb069789028ec 100644 --- a/N052/stretch3/dr_off/seed_5043/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_off/seed_5043/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1888, "magicsim/control_steps": 3776, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the left of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1888, "magicsim/control_steps": 3776, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the left of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_off/seed_5043/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_off/seed_5043/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 1cbed7bf0f1839377fa476f0ec69084cd3274836..71cf37f3276c7a1c7bcb100db84041c63f1aba91 100644 --- a/N052/stretch3/dr_off/seed_5043/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_off/seed_5043/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_off/seed_5043/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_off/seed_5043/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_off/seed_5043/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_off/seed_5043/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_off/seed_5044/rec/check.json b/N052/stretch3/dr_off/seed_5044/rec/check.json index 635a0b2aaa11f0079cef0094097dc419c8d70435..22fdde2b38b5fcf14ee8e9e037d91f5720c1e1fc 100644 --- a/N052/stretch3/dr_off/seed_5044/rec/check.json +++ b/N052/stretch3/dr_off/seed_5044/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_off/seed_5044/rec/check.txt b/N052/stretch3/dr_off/seed_5044/rec/check.txt index aa8aeea43f70ea8541b8cee3aa610fb73055a016..282ed0c98a19e2b7a73509d0d0e9023fea1a2507 100644 --- a/N052/stretch3/dr_off/seed_5044/rec/check.txt +++ b/N052/stretch3/dr_off/seed_5044/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_off_5044/out/rec/memorystage/000 --- episode file episode_000000.parquet: 2620 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 2620 at dataset fps 25 = 104.80 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2620 rows vs ceil(5239/2) = 2620 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..5299, step differences [2] diff --git a/N052/stretch3/dr_off/seed_5044/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_off/seed_5044/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 24b19c14953f50f782c3ce0ecb0aea0f83a98107..edc2595f7d2ad9fde873162e4c345d4779536c1f 100644 --- a/N052/stretch3/dr_off/seed_5044/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_off/seed_5044/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 2620, "magicsim/control_steps": 5239, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is behind the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 2620, "magicsim/control_steps": 5239, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is behind the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_off/seed_5044/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_off/seed_5044/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index b0c4178f633efaea0019667bc1e025dacb04e515..a24133b500049ff49e1b6c5ba0cc15e4fd92188c 100644 --- a/N052/stretch3/dr_off/seed_5044/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_off/seed_5044/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_off/seed_5044/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_off/seed_5044/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_off/seed_5044/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_off/seed_5044/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_on/seed_2001/rec/check.json b/N052/stretch3/dr_on/seed_2001/rec/check.json index 3175a863d24b08fce6d72d658fd99ea6206506eb..66b59abc4aa78e9efc6e4ea6652c3be16eb253cf 100644 --- a/N052/stretch3/dr_on/seed_2001/rec/check.json +++ b/N052/stretch3/dr_on/seed_2001/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_on/seed_2001/rec/check.txt b/N052/stretch3/dr_on/seed_2001/rec/check.txt index 711445eb6eba9a1a52aa232e24c97a5a81510bfe..7d58cc185e6f53376b990d92338892f2ce7829db 100644 --- a/N052/stretch3/dr_on/seed_2001/rec/check.txt +++ b/N052/stretch3/dr_on/seed_2001/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/xc536_atomic/n052_str_on_2001/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2801 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 2801 at dataset fps 25 = 112.04 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2801 rows vs ceil(5601/2) = 2801 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..5661, step differences [2] diff --git a/N052/stretch3/dr_on/seed_2001/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_on/seed_2001/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 301ddfeaf61c3c1b4dd1d7ea4eedb0f1c1a2c0c5..a0d2a8f28746e4c44329aee54e51b2a82418d9e7 100644 --- a/N052/stretch3/dr_on/seed_2001/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_on/seed_2001/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 2801, "magicsim/control_steps": 5601, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is in front of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 2801, "magicsim/control_steps": 5601, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is in front of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_on/seed_2001/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_on/seed_2001/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 74ba7bd79d29fe73b75bf35418080e76704e1c54..034b6dd0e6e5f5056bd6883efcb8b93c5bece4ed 100644 --- a/N052/stretch3/dr_on/seed_2001/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_on/seed_2001/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_on/seed_2001/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_on/seed_2001/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_on/seed_2001/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_on/seed_2001/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_on/seed_2002/rec/check.json b/N052/stretch3/dr_on/seed_2002/rec/check.json index 085fb351ca6baea90fbb8795e5d8446a5f575cca..3afed074c3839a3332cce352d14854440913c09b 100644 --- a/N052/stretch3/dr_on/seed_2002/rec/check.json +++ b/N052/stretch3/dr_on/seed_2002/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_on/seed_2002/rec/check.txt b/N052/stretch3/dr_on/seed_2002/rec/check.txt index 4cd0b1d1f0ed235f80fce09c316dbc801f19356f..355658c16a99d94a0bd60965724f0d1eef47ba0f 100644 --- a/N052/stretch3/dr_on/seed_2002/rec/check.txt +++ b/N052/stretch3/dr_on/seed_2002/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/xc536_atomic/n052_str_on_2002/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 1878 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1878 at dataset fps 25 = 75.12 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1878 rows vs ceil(3755/2) = 1878 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..3815, step differences [2] diff --git a/N052/stretch3/dr_on/seed_2002/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_on/seed_2002/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index d5ec9dedbb95f6e94aee7165fb9e8b26d8ee2f70..9f10e82331674716738244500f3d77a68afc5596 100644 --- a/N052/stretch3/dr_on/seed_2002/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_on/seed_2002/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1878, "magicsim/control_steps": 3755, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1878, "magicsim/control_steps": 3755, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, slightly above table height."} diff --git a/N052/stretch3/dr_on/seed_2002/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_on/seed_2002/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index d8beb35e232a32878314ce4795245509f210e778..1101c219b484ad7a9eee07fef7d3f33f45356cf6 100644 --- a/N052/stretch3/dr_on/seed_2002/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_on/seed_2002/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_on/seed_2002/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_on/seed_2002/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_on/seed_2002/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_on/seed_2002/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_on/seed_2003/rec/check.json b/N052/stretch3/dr_on/seed_2003/rec/check.json index 62118244435b44903d8279e1906259895edfd0d5..e6390e19b68f9e00430714ff4a6b8f351f7c2d1c 100644 --- a/N052/stretch3/dr_on/seed_2003/rec/check.json +++ b/N052/stretch3/dr_on/seed_2003/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_on/seed_2003/rec/check.txt b/N052/stretch3/dr_on/seed_2003/rec/check.txt index 4dc0b26e2a7a2f9fc2d838f5fa010059cbd1814d..1769940c85bb681f0c1521b3415433812df0348a 100644 --- a/N052/stretch3/dr_on/seed_2003/rec/check.txt +++ b/N052/stretch3/dr_on/seed_2003/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/xc536_atomic/n052_str_on_2003/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 1904 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1904 at dataset fps 25 = 76.16 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1904 rows vs ceil(3808/2) = 1904 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..3867, step differences [2] diff --git a/N052/stretch3/dr_on/seed_2003/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_on/seed_2003/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index b71caadd6759e173ab0fd37c31a66f18abfb8973..05df8779a2ee8f032db9d1adfbc3ab092df52a94 100644 --- a/N052/stretch3/dr_on/seed_2003/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_on/seed_2003/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1904, "magicsim/control_steps": 3808, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is behind the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1904, "magicsim/control_steps": 3808, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is behind the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_on/seed_2003/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_on/seed_2003/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 9297134763a5c30b02ffdea72587b23032670e60..b81eaa84776b7e98aa57077129e8dae85aa39877 100644 --- a/N052/stretch3/dr_on/seed_2003/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_on/seed_2003/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_on/seed_2003/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_on/seed_2003/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_on/seed_2003/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_on/seed_2003/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_on/seed_2004/rec/check.json b/N052/stretch3/dr_on/seed_2004/rec/check.json index 850f29dcc593e53556d4d64cff8705036a651aa0..6b8db135ed8cde32b2511eb48aafdfe262f53e65 100644 --- a/N052/stretch3/dr_on/seed_2004/rec/check.json +++ b/N052/stretch3/dr_on/seed_2004/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_on/seed_2004/rec/check.txt b/N052/stretch3/dr_on/seed_2004/rec/check.txt index c466ae955830093c1ba41fee35223cd1945a2075..c9532b74091d4ad77afaab7e2d766579f21f4f8b 100644 --- a/N052/stretch3/dr_on/seed_2004/rec/check.txt +++ b/N052/stretch3/dr_on/seed_2004/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/xc536_atomic/n052_str_on_2004/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 1893 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1893 at dataset fps 25 = 75.72 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1893 rows vs ceil(3786/2) = 1893 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..3845, step differences [2] diff --git a/N052/stretch3/dr_on/seed_2004/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_on/seed_2004/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 8c3bf955b45e8377478348713f18c793e073c6b0..879574604413e0bab10a921a6e1f20023969bb0b 100644 --- a/N052/stretch3/dr_on/seed_2004/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_on/seed_2004/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1893, "magicsim/control_steps": 3786, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is in front of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1893, "magicsim/control_steps": 3786, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is in front of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_on/seed_2004/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_on/seed_2004/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 65e8b8bab9737c6fbcf44f3759a7f114bd56d84e..99263cbcd04ca6ee715c4cbf0b580a6195bc319e 100644 --- a/N052/stretch3/dr_on/seed_2004/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_on/seed_2004/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_on/seed_2004/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_on/seed_2004/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_on/seed_2004/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_on/seed_2004/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_on/seed_2005/rec/check.json b/N052/stretch3/dr_on/seed_2005/rec/check.json index 459bb7a4a0645ae1d6e70fc328b7c52399409ec8..cf1611ca38c064c32b6a9e6e0912c6226983de5b 100644 --- a/N052/stretch3/dr_on/seed_2005/rec/check.json +++ b/N052/stretch3/dr_on/seed_2005/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_on/seed_2005/rec/check.txt b/N052/stretch3/dr_on/seed_2005/rec/check.txt index 7d34aba925ab5dfaf9917d30435fd475ddf4bd3e..26ff2873b47316ca9a523c8c61117836a89bc6cc 100644 --- a/N052/stretch3/dr_on/seed_2005/rec/check.txt +++ b/N052/stretch3/dr_on/seed_2005/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/xc536_atomic/n052_str_on_2005/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2751 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 2751 at dataset fps 25 = 110.04 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2751 rows vs ceil(5502/2) = 2751 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..5561, step differences [2] diff --git a/N052/stretch3/dr_on/seed_2005/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_on/seed_2005/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 6d5f93cc6e91802fa5da2f3f065d57a43a8628ec..28688582cbf9abe123b36694e2ba55aab8056d87 100644 --- a/N052/stretch3/dr_on/seed_2005/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_on/seed_2005/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 2751, "magicsim/control_steps": 5502, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is in front of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 2751, "magicsim/control_steps": 5502, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is in front of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_on/seed_2005/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_on/seed_2005/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 29e832563f49652bc96459fe1be5e1d295285262..cab6625fda8e47fc41b0bc57888ec54bd21f9c75 100644 --- a/N052/stretch3/dr_on/seed_2005/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_on/seed_2005/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_on/seed_2005/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_on/seed_2005/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_on/seed_2005/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_on/seed_2005/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_on/seed_2006/rec/check.json b/N052/stretch3/dr_on/seed_2006/rec/check.json index 9d4b907fada584e5089daefe9c9a94e2d2d95d63..74ad63a5169da5453d750eefab31af79155b22ff 100644 --- a/N052/stretch3/dr_on/seed_2006/rec/check.json +++ b/N052/stretch3/dr_on/seed_2006/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_on/seed_2006/rec/check.txt b/N052/stretch3/dr_on/seed_2006/rec/check.txt index 6106b800b7cedab7e728653c1a9c2197ca895b11..d0f60f4914957522df737292d20f18ecd97cb096 100644 --- a/N052/stretch3/dr_on/seed_2006/rec/check.txt +++ b/N052/stretch3/dr_on/seed_2006/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/xc536_atomic/n052_str_on_2006/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2581 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 2581 at dataset fps 25 = 103.24 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2581 rows vs ceil(5161/2) = 2581 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..5221, step differences [2] diff --git a/N052/stretch3/dr_on/seed_2006/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_on/seed_2006/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 26bd15b1d36faf02c47999d3343ce005d2f5a33a..7ac8376b2ebe6b243ee011c2630818b1013fc34e 100644 --- a/N052/stretch3/dr_on/seed_2006/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_on/seed_2006/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 2581, "magicsim/control_steps": 5161, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the right of the white st wall r. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 2581, "magicsim/control_steps": 5161, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the right of the white st wall r. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_on/seed_2006/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_on/seed_2006/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 36a6dd8ae45fcd82aeda55ac8a175eb8eeca0bfd..2f42f3641d66aee0c5d65cf2523ba3c56a5b632a 100644 --- a/N052/stretch3/dr_on/seed_2006/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_on/seed_2006/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_on/seed_2006/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_on/seed_2006/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_on/seed_2006/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_on/seed_2006/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_on/seed_2007/rec/check.json b/N052/stretch3/dr_on/seed_2007/rec/check.json index bc20b83f5e2b4fd27ff854a91d9a1d34ab0b2e88..7c8f0e1680585d724ccaee72c9dc8fa1de30a4ca 100644 --- a/N052/stretch3/dr_on/seed_2007/rec/check.json +++ b/N052/stretch3/dr_on/seed_2007/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_on/seed_2007/rec/check.txt b/N052/stretch3/dr_on/seed_2007/rec/check.txt index 2f1bb5dcbef36be92c9779e7f9ce87fde69bac42..4cf33ab6e0541e4347bc1653d327906c44171be6 100644 --- a/N052/stretch3/dr_on/seed_2007/rec/check.txt +++ b/N052/stretch3/dr_on/seed_2007/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/xc536_atomic/n052_str_on_2007/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2779 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 2779 at dataset fps 25 = 111.16 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2779 rows vs ceil(5557/2) = 2779 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..5617, step differences [2] diff --git a/N052/stretch3/dr_on/seed_2007/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_on/seed_2007/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 82a62070703af410c2cd06628a4d34c9a19e9cd2..fca3a0f1da535a0dc1e2b7ec5d1ee48f575393bc 100644 --- a/N052/stretch3/dr_on/seed_2007/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_on/seed_2007/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 2779, "magicsim/control_steps": 5557, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the left of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 2779, "magicsim/control_steps": 5557, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the left of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_on/seed_2007/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_on/seed_2007/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index cdfebb91f3242bbd3645c5e1f91a1364ba9fa886..fbed819bb0d11f0c87ceabe61e908a3ba290ca78 100644 --- a/N052/stretch3/dr_on/seed_2007/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_on/seed_2007/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_on/seed_2007/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_on/seed_2007/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_on/seed_2007/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_on/seed_2007/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_on/seed_2008/rec/check.json b/N052/stretch3/dr_on/seed_2008/rec/check.json index ab1f200064436fb8cd8a3d88141cc4a92f10c111..cc6f7653fa5596501476b30391e4e6b3f49450bc 100644 --- a/N052/stretch3/dr_on/seed_2008/rec/check.json +++ b/N052/stretch3/dr_on/seed_2008/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_on/seed_2008/rec/check.txt b/N052/stretch3/dr_on/seed_2008/rec/check.txt index a4adf0e2266ecc3ca5685623115634656973154b..a40563fe535044a2b15a13489976009ec088c785 100644 --- a/N052/stretch3/dr_on/seed_2008/rec/check.txt +++ b/N052/stretch3/dr_on/seed_2008/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/xc536_atomic/n052_str_on_2008/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 1881 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1881 at dataset fps 25 = 75.24 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1881 rows vs ceil(3762/2) = 1881 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..3821, step differences [2] diff --git a/N052/stretch3/dr_on/seed_2008/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_on/seed_2008/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index c4264b0c8a05f03213c88733fe13c1c275af8d8e..2421d565dc18a6a277d275e1e925cbc3fbad4c49 100644 --- a/N052/stretch3/dr_on/seed_2008/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_on/seed_2008/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1881, "magicsim/control_steps": 3762, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the left of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1881, "magicsim/control_steps": 3762, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the left of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_on/seed_2008/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_on/seed_2008/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index ac49bc8ec85126b39fca987f77301c71210aa969..69084328b96602428352bf419cb8435493e19e60 100644 --- a/N052/stretch3/dr_on/seed_2008/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_on/seed_2008/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_on/seed_2008/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_on/seed_2008/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_on/seed_2008/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_on/seed_2008/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_on/seed_2009/rec/check.json b/N052/stretch3/dr_on/seed_2009/rec/check.json index 9bb7d78e9c0093f058f846091057dbc5d055b53c..521de8e104cbfe21f7fc7e755c4eed33e2476638 100644 --- a/N052/stretch3/dr_on/seed_2009/rec/check.json +++ b/N052/stretch3/dr_on/seed_2009/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_on/seed_2009/rec/check.txt b/N052/stretch3/dr_on/seed_2009/rec/check.txt index 6ca72962e7e080e170a27f5ae7679fb3bda86784..906f916e8bbe89d8bdea08378173c7b48a3b3634 100644 --- a/N052/stretch3/dr_on/seed_2009/rec/check.txt +++ b/N052/stretch3/dr_on/seed_2009/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/xc536_atomic/n052_str_on_2009/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 1905 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1905 at dataset fps 25 = 76.20 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1905 rows vs ceil(3810/2) = 1905 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..3869, step differences [2] diff --git a/N052/stretch3/dr_on/seed_2009/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_on/seed_2009/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index a802ba0709bba2709adc9692fa37d40bc66159e9..81acb0d47868d334c05eb6bf1a063472894eb436 100644 --- a/N052/stretch3/dr_on/seed_2009/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_on/seed_2009/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1905, "magicsim/control_steps": 3810, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the right of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1905, "magicsim/control_steps": 3810, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the right of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_on/seed_2009/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_on/seed_2009/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 73e5f36fa562e39324bb1f14729796519aa5fd9c..da196622a229a38e9a9f6cb46062dad02271af3d 100644 --- a/N052/stretch3/dr_on/seed_2009/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_on/seed_2009/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_on/seed_2009/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_on/seed_2009/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_on/seed_2009/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_on/seed_2009/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_on/seed_6022/rec/check.json b/N052/stretch3/dr_on/seed_6022/rec/check.json index e674e90c55d646b5b49a0cc67a5603a49ba45e42..a7c9b9cfc47e9adb1d2216fbee723e2cafa2438c 100644 --- a/N052/stretch3/dr_on/seed_6022/rec/check.json +++ b/N052/stretch3/dr_on/seed_6022/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_on/seed_6022/rec/check.txt b/N052/stretch3/dr_on/seed_6022/rec/check.txt index 29c03bfed15fb4f67ed6bf6874cdfad16372c19c..ade8dec2abea414042f6dbcde7104653327e17b9 100644 --- a/N052/stretch3/dr_on/seed_6022/rec/check.txt +++ b/N052/stretch3/dr_on/seed_6022/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_on_6022/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 1894 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1894 at dataset fps 25 = 75.76 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1894 rows vs ceil(3788/2) = 1894 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..3847, step differences [2] diff --git a/N052/stretch3/dr_on/seed_6022/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_on/seed_6022/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 94e3d325bb5ce76bc2376ad97cc0e120f6a82a93..1178349afc516b36c550a1768e3db82b60fd6e3e 100644 --- a/N052/stretch3/dr_on/seed_6022/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_on/seed_6022/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1894, "magicsim/control_steps": 3788, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1894, "magicsim/control_steps": 3788, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_on/seed_6022/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_on/seed_6022/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index a874dd22f96e1c8fa2da7fbcdd2d57e90e170351..af8145374bc55255ce63d87c7b81c34eb8a8168b 100644 --- a/N052/stretch3/dr_on/seed_6022/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_on/seed_6022/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_on/seed_6022/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_on/seed_6022/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_on/seed_6022/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_on/seed_6022/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_on/seed_6023/rec/check.json b/N052/stretch3/dr_on/seed_6023/rec/check.json index 2b106b2d452b70921698627960e0abf48f50f44d..aa1068c13451f6fa4691ac2e42bf3649f54ebbd0 100644 --- a/N052/stretch3/dr_on/seed_6023/rec/check.json +++ b/N052/stretch3/dr_on/seed_6023/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_on/seed_6023/rec/check.txt b/N052/stretch3/dr_on/seed_6023/rec/check.txt index e49a2886b6b6622b4bad805388419d906295cdc3..580dad5dd5d1104984d5075098e4b97f5bd3b031 100644 --- a/N052/stretch3/dr_on/seed_6023/rec/check.txt +++ b/N052/stretch3/dr_on/seed_6023/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_on_6023/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2819 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 2819 at dataset fps 25 = 112.76 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2819 rows vs ceil(5638/2) = 2819 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..5697, step differences [2] diff --git a/N052/stretch3/dr_on/seed_6023/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_on/seed_6023/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 88e8218cb6162868d040ca00db01932a8d7c3d05..455801e3df14b589af5e78f4f584a603e5807d2e 100644 --- a/N052/stretch3/dr_on/seed_6023/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_on/seed_6023/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 2819, "magicsim/control_steps": 5638, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the right of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 2819, "magicsim/control_steps": 5638, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the right of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_on/seed_6023/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_on/seed_6023/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index e01e330094299fd048411048ff3037d6c2088263..681bf147f9c54b148acaea8b4848c27990aaeedf 100644 --- a/N052/stretch3/dr_on/seed_6023/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_on/seed_6023/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_on/seed_6023/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_on/seed_6023/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_on/seed_6023/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_on/seed_6023/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_on/seed_6024/rec/check.json b/N052/stretch3/dr_on/seed_6024/rec/check.json index f5903964bf3136bc22e2ac6f76522be7d08f12d4..135aa03fcebfba889a25ae793016cc867146b5e1 100644 --- a/N052/stretch3/dr_on/seed_6024/rec/check.json +++ b/N052/stretch3/dr_on/seed_6024/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_on/seed_6024/rec/check.txt b/N052/stretch3/dr_on/seed_6024/rec/check.txt index e8d093e5f624761a57f5bf59fb6a4094b5eb3d79..0e1927bb4e9f45a77aa1279606333f135785b79d 100644 --- a/N052/stretch3/dr_on/seed_6024/rec/check.txt +++ b/N052/stretch3/dr_on/seed_6024/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_on_6024_r1/out/rec/memorystage/0 --- episode file episode_000000.parquet: 2627 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 2627 at dataset fps 25 = 105.08 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2627 rows vs ceil(5254/2) = 2627 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..5313, step differences [2] diff --git a/N052/stretch3/dr_on/seed_6024/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_on/seed_6024/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index e84e5738dc54734da5bd2c84e695bd7a5c448aa9..7c30744d13a37271774887e61f66a44ae7230fc0 100644 --- a/N052/stretch3/dr_on/seed_6024/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_on/seed_6024/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 2627, "magicsim/control_steps": 5254, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is behind the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 2627, "magicsim/control_steps": 5254, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is behind the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_on/seed_6024/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_on/seed_6024/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index a6b917c0e53720104669a402724dbb3f1c96c7f9..c2413d4f6998cdffbd0b097740973b6c8ac04a0c 100644 --- a/N052/stretch3/dr_on/seed_6024/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_on/seed_6024/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_on/seed_6024/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_on/seed_6024/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_on/seed_6024/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_on/seed_6024/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_on/seed_6025/rec/check.json b/N052/stretch3/dr_on/seed_6025/rec/check.json index 7a6adb10b904f85c7693b6dd2bf955571e7efdc4..03204454c381f55427cfd6c9e835e65bc293590f 100644 --- a/N052/stretch3/dr_on/seed_6025/rec/check.json +++ b/N052/stretch3/dr_on/seed_6025/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_on/seed_6025/rec/check.txt b/N052/stretch3/dr_on/seed_6025/rec/check.txt index ded75e163cc60ad86eb0b48b72ae6d913436a0e7..5fb8bff56b344b9e230341875872c413f561346f 100644 --- a/N052/stretch3/dr_on/seed_6025/rec/check.txt +++ b/N052/stretch3/dr_on/seed_6025/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_on_6025/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2798 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 2798 at dataset fps 25 = 111.92 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2798 rows vs ceil(5596/2) = 2798 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..5655, step differences [2] diff --git a/N052/stretch3/dr_on/seed_6025/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_on/seed_6025/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 3b6e22edfcff68860dfd5e3ccdc9f18f2f9120db..9772b2a7c1fc684b9a9546f8846b59b5bd585633 100644 --- a/N052/stretch3/dr_on/seed_6025/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_on/seed_6025/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 2798, "magicsim/control_steps": 5596, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the left of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 2798, "magicsim/control_steps": 5596, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the left of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_on/seed_6025/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_on/seed_6025/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index f9dfb9ed99c3058c813c644544a24f0f4c9cb035..4bef6ece7e0b9fc114c41d29fcf004e15ac78e53 100644 --- a/N052/stretch3/dr_on/seed_6025/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_on/seed_6025/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_on/seed_6025/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_on/seed_6025/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_on/seed_6025/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_on/seed_6025/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_on/seed_6026/rec/check.json b/N052/stretch3/dr_on/seed_6026/rec/check.json index 0e1a8a092abcd993ad437dac530b091efd49c634..48ff89c6fed00232991f9aa5a5c4dfce904afd14 100644 --- a/N052/stretch3/dr_on/seed_6026/rec/check.json +++ b/N052/stretch3/dr_on/seed_6026/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_on/seed_6026/rec/check.txt b/N052/stretch3/dr_on/seed_6026/rec/check.txt index a92c6c51eca45450465b58376a74d11c30b2b0f3..ce7f4e7c8f89fd7ecd2bca982b7a5e673cbacee3 100644 --- a/N052/stretch3/dr_on/seed_6026/rec/check.txt +++ b/N052/stretch3/dr_on/seed_6026/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_on_6026/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2786 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 2786 at dataset fps 25 = 111.44 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2786 rows vs ceil(5572/2) = 2786 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..5631, step differences [2] diff --git a/N052/stretch3/dr_on/seed_6026/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_on/seed_6026/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 27cc0785da1dcd51e3b679a7ee27816669dd770b..14d12592db0012f7178c0eb9e049011203b9ff21 100644 --- a/N052/stretch3/dr_on/seed_6026/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_on/seed_6026/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 2786, "magicsim/control_steps": 5572, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 2786, "magicsim/control_steps": 5572, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, slightly above table height."} diff --git a/N052/stretch3/dr_on/seed_6026/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_on/seed_6026/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 7c377b473359c11d6f5ec616772a2ac30496c11d..a872235420a7ad50a12d546552491fa1b2b6721e 100644 --- a/N052/stretch3/dr_on/seed_6026/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_on/seed_6026/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_on/seed_6026/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_on/seed_6026/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_on/seed_6026/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_on/seed_6026/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_on/seed_6027/rec/check.json b/N052/stretch3/dr_on/seed_6027/rec/check.json index b0c038bb746c1878bc1f8c8aeae6b789510a83dd..177166528f5a6c42060758ea2049dab92b15abc8 100644 --- a/N052/stretch3/dr_on/seed_6027/rec/check.json +++ b/N052/stretch3/dr_on/seed_6027/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_on/seed_6027/rec/check.txt b/N052/stretch3/dr_on/seed_6027/rec/check.txt index 35d936bfb7a0eb3d816aeb3e2686f4953d865fe9..669f7538c0c0dfe190f5eac5b33f3eba5a5695f8 100644 --- a/N052/stretch3/dr_on/seed_6027/rec/check.txt +++ b/N052/stretch3/dr_on/seed_6027/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_on_6027/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 1865 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1865 at dataset fps 25 = 74.60 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1865 rows vs ceil(3729/2) = 1865 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..3789, step differences [2] diff --git a/N052/stretch3/dr_on/seed_6027/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_on/seed_6027/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index d5ed4f0c29cd5a14ed4d9617d2e75d15539416fc..6933354e9922735356df5ea460ad6debed089c58 100644 --- a/N052/stretch3/dr_on/seed_6027/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_on/seed_6027/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1865, "magicsim/control_steps": 3729, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is in front of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1865, "magicsim/control_steps": 3729, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is in front of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_on/seed_6027/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_on/seed_6027/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 7c63514388ce54c03918256bbccfafd8ffe2e9c4..2f646327df491e29bd118077eb2812067330dcca 100644 --- a/N052/stretch3/dr_on/seed_6027/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_on/seed_6027/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_on/seed_6027/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_on/seed_6027/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_on/seed_6027/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_on/seed_6027/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_on/seed_6028/rec/check.json b/N052/stretch3/dr_on/seed_6028/rec/check.json index a354e0e67566292061b79de33199d156f027da66..156ce8cd5c78e0d75a232316e54789dd27141870 100644 --- a/N052/stretch3/dr_on/seed_6028/rec/check.json +++ b/N052/stretch3/dr_on/seed_6028/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_on/seed_6028/rec/check.txt b/N052/stretch3/dr_on/seed_6028/rec/check.txt index 9d82d2c3482a6737913f9e0b06bee3ecfd122a90..5e2a27f978e8dbc56072487971ea1819dd0eeb52 100644 --- a/N052/stretch3/dr_on/seed_6028/rec/check.txt +++ b/N052/stretch3/dr_on/seed_6028/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_on_6028/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 3255 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 3255 at dataset fps 25 = 130.20 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3255 rows vs ceil(6509/2) = 3255 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6569, step differences [2] diff --git a/N052/stretch3/dr_on/seed_6028/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_on/seed_6028/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 15dc05cb702d89266dc3f50fb87ca480b1055e22..513eef8fb81f3f8ff56353912d5f1bbeef9e3901 100644 --- a/N052/stretch3/dr_on/seed_6028/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_on/seed_6028/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 3255, "magicsim/control_steps": 6509, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the right of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 3255, "magicsim/control_steps": 6509, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the right of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_on/seed_6028/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_on/seed_6028/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 763de71efab1fea7f493d0b5e4de988df24aea75..13d765893ff8e89b430670bd69d87fe2084c11b7 100644 --- a/N052/stretch3/dr_on/seed_6028/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_on/seed_6028/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_on/seed_6028/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_on/seed_6028/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_on/seed_6028/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_on/seed_6028/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_on/seed_6029/rec/check.json b/N052/stretch3/dr_on/seed_6029/rec/check.json index 7e4795affe551db113d96654f370dfbe81009552..11206b75b1011ddfe191269ad909bab0d94a765b 100644 --- a/N052/stretch3/dr_on/seed_6029/rec/check.json +++ b/N052/stretch3/dr_on/seed_6029/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_on/seed_6029/rec/check.txt b/N052/stretch3/dr_on/seed_6029/rec/check.txt index def31f9c5ea1ba5cd4765a74a8665bcfa38f3be5..c67e20ca0c146feb12882170dc44f4afdc8374c2 100644 --- a/N052/stretch3/dr_on/seed_6029/rec/check.txt +++ b/N052/stretch3/dr_on/seed_6029/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_on_6029/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 3227 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 3227 at dataset fps 25 = 129.08 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3227 rows vs ceil(6453/2) = 3227 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6513, step differences [2] diff --git a/N052/stretch3/dr_on/seed_6029/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_on/seed_6029/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index e7abfb85d4013330d7558545c3535045a705dffa..1f92324140bdb7562fc040a8d424dbb39eafe769 100644 --- a/N052/stretch3/dr_on/seed_6029/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_on/seed_6029/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 3227, "magicsim/control_steps": 6453, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the right of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 3227, "magicsim/control_steps": 6453, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the right of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_on/seed_6029/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_on/seed_6029/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index d0aebf622f644ea3a9076f155d66bb92a62c6d4b..6e5578930faddf34fbbcf3b1fb3f5a288b3c3d2a 100644 --- a/N052/stretch3/dr_on/seed_6029/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_on/seed_6029/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_on/seed_6029/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_on/seed_6029/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_on/seed_6029/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_on/seed_6029/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_on/seed_6031/rec/check.json b/N052/stretch3/dr_on/seed_6031/rec/check.json index 153b46eca2d93720c220d399c713d996f19c3a46..ae3c4caba7093e493456a8cdc70f449ab2710ae8 100644 --- a/N052/stretch3/dr_on/seed_6031/rec/check.json +++ b/N052/stretch3/dr_on/seed_6031/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_on/seed_6031/rec/check.txt b/N052/stretch3/dr_on/seed_6031/rec/check.txt index b4fe5738b1af332126a738a7904851358257962f..0ae758277f313bcb5afc28a2f82b1026468056e6 100644 --- a/N052/stretch3/dr_on/seed_6031/rec/check.txt +++ b/N052/stretch3/dr_on/seed_6031/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_on_6031/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2594 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 2594 at dataset fps 25 = 103.76 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2594 rows vs ceil(5188/2) = 2594 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..5247, step differences [2] diff --git a/N052/stretch3/dr_on/seed_6031/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_on/seed_6031/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index a9524fa4f82b05ff85ec0382dbcb104d144caf53..575bbb9595d92356146c073ed5502121c3f4172c 100644 --- a/N052/stretch3/dr_on/seed_6031/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_on/seed_6031/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 2594, "magicsim/control_steps": 5188, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is in front of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 2594, "magicsim/control_steps": 5188, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is in front of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_on/seed_6031/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_on/seed_6031/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 79d1c871f8032f82b5c491b651d5a94a8c3e067d..c7222d4d6bb055a9db5a00bd86224ce70831cf66 100644 --- a/N052/stretch3/dr_on/seed_6031/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_on/seed_6031/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_on/seed_6031/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_on/seed_6031/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_on/seed_6031/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_on/seed_6031/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_on/seed_6032/rec/check.json b/N052/stretch3/dr_on/seed_6032/rec/check.json index 2327bcf8220cf715a4f3c8b718979562355e2211..1a9ee7b164e1ae368639c2f66a3f1b7f648654d3 100644 --- a/N052/stretch3/dr_on/seed_6032/rec/check.json +++ b/N052/stretch3/dr_on/seed_6032/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_on/seed_6032/rec/check.txt b/N052/stretch3/dr_on/seed_6032/rec/check.txt index 9244b9dc3de2ba4a40b08528bc50d1178b770fbf..ba90ccc75dd2604831efa7ee783e76b8d20f4981 100644 --- a/N052/stretch3/dr_on/seed_6032/rec/check.txt +++ b/N052/stretch3/dr_on/seed_6032/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_on_6032/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2816 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 2816 at dataset fps 25 = 112.64 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2816 rows vs ceil(5631/2) = 2816 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..5691, step differences [2] diff --git a/N052/stretch3/dr_on/seed_6032/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_on/seed_6032/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 19fc241ba6d1ff1a783f384c90b8f956f4a0e766..dff0a7860e1b246e50a29472f32f34a0155f8aff 100644 --- a/N052/stretch3/dr_on/seed_6032/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_on/seed_6032/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 2816, "magicsim/control_steps": 5631, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the left of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 2816, "magicsim/control_steps": 5631, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the left of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_on/seed_6032/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_on/seed_6032/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 3da6b7dc1f9db3cdb3a3b041efd06fe8927e0bce..9eb772856ac15046e02479c2a740ca85ca367469 100644 --- a/N052/stretch3/dr_on/seed_6032/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_on/seed_6032/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_on/seed_6032/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_on/seed_6032/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_on/seed_6032/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_on/seed_6032/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_on/seed_6034/rec/check.json b/N052/stretch3/dr_on/seed_6034/rec/check.json index e91cff37ad542a4a150194c0e0ff7b0e9fcf19f3..cb6280478d8489524cb22cec711efba03b288f56 100644 --- a/N052/stretch3/dr_on/seed_6034/rec/check.json +++ b/N052/stretch3/dr_on/seed_6034/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_on/seed_6034/rec/check.txt b/N052/stretch3/dr_on/seed_6034/rec/check.txt index fe2a2d143487977ae2388f1d45891b3be4698216..52bb13bdfd355160e1c8246266a9a86ba5d657a9 100644 --- a/N052/stretch3/dr_on/seed_6034/rec/check.txt +++ b/N052/stretch3/dr_on/seed_6034/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_on_6034/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 1885 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1885 at dataset fps 25 = 75.40 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1885 rows vs ceil(3769/2) = 1885 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..3829, step differences [2] diff --git a/N052/stretch3/dr_on/seed_6034/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_on/seed_6034/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 6ef9157d1c135681a304d77c830bdcee186fe5f9..48d3cb8779b52a8275498e0710ed5563625728f2 100644 --- a/N052/stretch3/dr_on/seed_6034/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_on/seed_6034/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1885, "magicsim/control_steps": 3769, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the left of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1885, "magicsim/control_steps": 3769, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the left of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_on/seed_6034/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_on/seed_6034/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index e9e468f1d793c1a1c53ddc8e7d21b2f65b214289..faad9de28c6e219cb6f22eec6e07f027883c6c6e 100644 --- a/N052/stretch3/dr_on/seed_6034/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_on/seed_6034/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_on/seed_6034/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_on/seed_6034/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_on/seed_6034/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_on/seed_6034/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_on/seed_6035/rec/check.json b/N052/stretch3/dr_on/seed_6035/rec/check.json index 55eedf49aba41e90292c2df23033b696daf2ba25..09c3dcdde142ea4be8deda46911a4b7aff72cd85 100644 --- a/N052/stretch3/dr_on/seed_6035/rec/check.json +++ b/N052/stretch3/dr_on/seed_6035/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_on/seed_6035/rec/check.txt b/N052/stretch3/dr_on/seed_6035/rec/check.txt index b79cbc259a2ee68c6fed28bf77a2e09c24ce5b09..4e81442b19b66d47aaccdb983ac1dc859ef8f38a 100644 --- a/N052/stretch3/dr_on/seed_6035/rec/check.txt +++ b/N052/stretch3/dr_on/seed_6035/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_on_6035/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2758 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 2758 at dataset fps 25 = 110.32 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2758 rows vs ceil(5515/2) = 2758 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..5575, step differences [2] diff --git a/N052/stretch3/dr_on/seed_6035/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_on/seed_6035/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index b5a7ff3c6b9687795b913e4b093f262f0e716f2c..c85b4324e5405026d2150d62fcd7596d052c3bc7 100644 --- a/N052/stretch3/dr_on/seed_6035/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_on/seed_6035/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 2758, "magicsim/control_steps": 5515, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the left of the white st wall r. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 2758, "magicsim/control_steps": 5515, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the left of the white st wall r. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, slightly above table height."} diff --git a/N052/stretch3/dr_on/seed_6035/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_on/seed_6035/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 96f2050d1103e623d24cab8686b239e3133693a7..ddf021fde5582302afe964e0814f36be5ce0c417 100644 --- a/N052/stretch3/dr_on/seed_6035/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_on/seed_6035/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_on/seed_6035/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_on/seed_6035/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_on/seed_6035/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_on/seed_6035/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_on/seed_6036/rec/check.json b/N052/stretch3/dr_on/seed_6036/rec/check.json index 9c797a7164f76c50c08228557d0da6a3291be8e3..d53096b9fd64c85211bfddbb2ef2c8b72813d5ff 100644 --- a/N052/stretch3/dr_on/seed_6036/rec/check.json +++ b/N052/stretch3/dr_on/seed_6036/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_on/seed_6036/rec/check.txt b/N052/stretch3/dr_on/seed_6036/rec/check.txt index 0937f784a3e807e6d306ff8093bc0327ec6ad51d..15f7d53a21518c991d6f8ee8ab72e103ce877294 100644 --- a/N052/stretch3/dr_on/seed_6036/rec/check.txt +++ b/N052/stretch3/dr_on/seed_6036/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_on_6036/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 1871 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1871 at dataset fps 25 = 74.84 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1871 rows vs ceil(3742/2) = 1871 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..3801, step differences [2] diff --git a/N052/stretch3/dr_on/seed_6036/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_on/seed_6036/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 1d6a9e7a1cce93620c5302af3394fb00d2400bc6..dbcadc757084f6690827cf440d8746bf43916404 100644 --- a/N052/stretch3/dr_on/seed_6036/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_on/seed_6036/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1871, "magicsim/control_steps": 3742, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is behind the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1871, "magicsim/control_steps": 3742, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is behind the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_on/seed_6036/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_on/seed_6036/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 6cd0bb85f5e54e8c504d0ff0b31be8e014c3e14b..4a559d239d84f83570c384fed91803617497b03a 100644 --- a/N052/stretch3/dr_on/seed_6036/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_on/seed_6036/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_on/seed_6036/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_on/seed_6036/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_on/seed_6036/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_on/seed_6036/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_on/seed_6039/rec/check.json b/N052/stretch3/dr_on/seed_6039/rec/check.json index 662a9572b28699f58af3b82589d3e47848670e31..f03e08d427439f4852bce4d0e7b02e3de1ce0954 100644 --- a/N052/stretch3/dr_on/seed_6039/rec/check.json +++ b/N052/stretch3/dr_on/seed_6039/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_on/seed_6039/rec/check.txt b/N052/stretch3/dr_on/seed_6039/rec/check.txt index 5836ae7693005f826c76b95de86af92eacc99303..91ddaf975c9b6087358cfe74be7bc628fb1c2ea7 100644 --- a/N052/stretch3/dr_on/seed_6039/rec/check.txt +++ b/N052/stretch3/dr_on/seed_6039/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_on_6039/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 3229 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 3229 at dataset fps 25 = 129.16 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3229 rows vs ceil(6457/2) = 3229 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6517, step differences [2] diff --git a/N052/stretch3/dr_on/seed_6039/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_on/seed_6039/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 3a3bb7293d2aa5abe8ebdd2e38d79c226931467e..33fa75770e4c3b8dc05003f9e65f1079d3f67eb0 100644 --- a/N052/stretch3/dr_on/seed_6039/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_on/seed_6039/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 3229, "magicsim/control_steps": 6457, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the left of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 3229, "magicsim/control_steps": 6457, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the left of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_on/seed_6039/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_on/seed_6039/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index a058bf9eeb8838d5ec3cd6784966dfcf5b0c8fff..3fba519890e62544e16ed1c587a11c89b88af1a7 100644 --- a/N052/stretch3/dr_on/seed_6039/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_on/seed_6039/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_on/seed_6039/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_on/seed_6039/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_on/seed_6039/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_on/seed_6039/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_on/seed_6040/rec/check.json b/N052/stretch3/dr_on/seed_6040/rec/check.json index 9db6033e5f2d4753aed2e2bd3d648e9c230c028e..3e841c2476121adec781657ba9245168684935d6 100644 --- a/N052/stretch3/dr_on/seed_6040/rec/check.json +++ b/N052/stretch3/dr_on/seed_6040/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_on/seed_6040/rec/check.txt b/N052/stretch3/dr_on/seed_6040/rec/check.txt index 09cee66c0fc3ff73e8a40046484c0167ba15265f..48ba75c5f1947f22941bbde3032814784f68b17a 100644 --- a/N052/stretch3/dr_on/seed_6040/rec/check.txt +++ b/N052/stretch3/dr_on/seed_6040/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_on_6040/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2795 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 2795 at dataset fps 25 = 111.80 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2795 rows vs ceil(5589/2) = 2795 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..5649, step differences [2] diff --git a/N052/stretch3/dr_on/seed_6040/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_on/seed_6040/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index a9cc243746c4e4ba64374ec5ede271b7ad589346..d898b38d934e83086e652df3545bdbd863ccbd93 100644 --- a/N052/stretch3/dr_on/seed_6040/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_on/seed_6040/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 2795, "magicsim/control_steps": 5589, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 2795, "magicsim/control_steps": 5589, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_on/seed_6040/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_on/seed_6040/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 2a7672faf4580c2a35656ac4c8dc7d2dafc8c399..48f5c1bd483d429136dfbdccda742bb88cc554f6 100644 --- a/N052/stretch3/dr_on/seed_6040/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_on/seed_6040/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_on/seed_6040/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_on/seed_6040/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_on/seed_6040/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_on/seed_6040/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_on/seed_6041/rec/check.json b/N052/stretch3/dr_on/seed_6041/rec/check.json index 246a43925741f545010ef722a6cd05002b6e6b8e..00fe340f4b59298793aca8664eb7009f879e527b 100644 --- a/N052/stretch3/dr_on/seed_6041/rec/check.json +++ b/N052/stretch3/dr_on/seed_6041/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_on/seed_6041/rec/check.txt b/N052/stretch3/dr_on/seed_6041/rec/check.txt index 3978a817cda437a9ab356c77bb11718283ee3dc3..240c78510d568db22123568ddb6be97e90247c19 100644 --- a/N052/stretch3/dr_on/seed_6041/rec/check.txt +++ b/N052/stretch3/dr_on/seed_6041/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_on_6041/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2808 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 2808 at dataset fps 25 = 112.32 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2808 rows vs ceil(5616/2) = 2808 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..5675, step differences [2] diff --git a/N052/stretch3/dr_on/seed_6041/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_on/seed_6041/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index ea70ed02816ea26001309478f626701e83e55406..7ebff5bfd68d450562a03b3517ef346ef81b54ba 100644 --- a/N052/stretch3/dr_on/seed_6041/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_on/seed_6041/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 2808, "magicsim/control_steps": 5616, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 2808, "magicsim/control_steps": 5616, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, slightly above table height."} diff --git a/N052/stretch3/dr_on/seed_6041/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_on/seed_6041/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index e1a0ebde8504ca6bdd2cdb4a2e7dfd2a6cebb6b1..e2a6aac117ab481a397cedf458851ad589e46164 100644 --- a/N052/stretch3/dr_on/seed_6041/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_on/seed_6041/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_on/seed_6041/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_on/seed_6041/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_on/seed_6041/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_on/seed_6041/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_on/seed_6042/rec/check.json b/N052/stretch3/dr_on/seed_6042/rec/check.json index 09befa9bb98685aaba568401a58e99ba0599d506..b5b73d63f928e0621a6b3fe089b5c9dbca0bed42 100644 --- a/N052/stretch3/dr_on/seed_6042/rec/check.json +++ b/N052/stretch3/dr_on/seed_6042/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_on/seed_6042/rec/check.txt b/N052/stretch3/dr_on/seed_6042/rec/check.txt index e78a4dc549f7aa5d7c9447a7f16020bb9e8e8084..815596ca1232ec8e0ec60209de14ce9b7b5f6c9c 100644 --- a/N052/stretch3/dr_on/seed_6042/rec/check.txt +++ b/N052/stretch3/dr_on/seed_6042/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_on_6042/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2775 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 2775 at dataset fps 25 = 111.00 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2775 rows vs ceil(5549/2) = 2775 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..5609, step differences [2] diff --git a/N052/stretch3/dr_on/seed_6042/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_on/seed_6042/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index a253b9c09ceb55aa7d7b1c1ae691d6a6b0776a47..241d4fdaebeaae0744d8c84ff7101879e9eeccef 100644 --- a/N052/stretch3/dr_on/seed_6042/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_on/seed_6042/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 2775, "magicsim/control_steps": 5549, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is behind the white st wall r. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 2775, "magicsim/control_steps": 5549, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is behind the white st wall r. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_on/seed_6042/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_on/seed_6042/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index c9c43b4a48a5f858e6917141e3c5e38341f3156b..110565e6cdab4ac683c8d43a5cf9beaba59be1eb 100644 --- a/N052/stretch3/dr_on/seed_6042/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_on/seed_6042/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_on/seed_6042/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_on/seed_6042/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_on/seed_6042/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_on/seed_6042/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_on/seed_6043/rec/check.json b/N052/stretch3/dr_on/seed_6043/rec/check.json index a597a7f21a8a2b6c65e54fdf98f6a97f57c0a830..b9db97f963385d93cb9899e001b9b532b7b5a31a 100644 --- a/N052/stretch3/dr_on/seed_6043/rec/check.json +++ b/N052/stretch3/dr_on/seed_6043/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_on/seed_6043/rec/check.txt b/N052/stretch3/dr_on/seed_6043/rec/check.txt index b72e2059e715e028ff117d2911278e8bb38e7bff..deb2155da61f154016b4dcfb2365306863e16ff4 100644 --- a/N052/stretch3/dr_on/seed_6043/rec/check.txt +++ b/N052/stretch3/dr_on/seed_6043/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_on_6043_r1/out/rec/memorystage/0 --- episode file episode_000000.parquet: 1891 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1891 at dataset fps 25 = 75.64 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1891 rows vs ceil(3782/2) = 1891 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..3841, step differences [2] diff --git a/N052/stretch3/dr_on/seed_6043/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_on/seed_6043/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 7f2cf723f6c83e867c7cce4201090538c16be89e..dcbcf9226193e029cca6724187b61d3bd02de87a 100644 --- a/N052/stretch3/dr_on/seed_6043/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_on/seed_6043/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1891, "magicsim/control_steps": 3782, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1891, "magicsim/control_steps": 3782, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, slightly above table height."} diff --git a/N052/stretch3/dr_on/seed_6043/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_on/seed_6043/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 10b9d1e8869dddd46f0fb32160fc9d3e633118ef..2e0c772388c194882849fda3558a5ce1313f7c7e 100644 --- a/N052/stretch3/dr_on/seed_6043/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_on/seed_6043/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_on/seed_6043/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_on/seed_6043/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_on/seed_6043/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_on/seed_6043/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_on/seed_6045/rec/check.json b/N052/stretch3/dr_on/seed_6045/rec/check.json index ca9c68645351a60c74d62d8dce23a454cd4d2833..82da3ee2a8bdb05fbf7af3660b7b1d6054465a5e 100644 --- a/N052/stretch3/dr_on/seed_6045/rec/check.json +++ b/N052/stretch3/dr_on/seed_6045/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_on/seed_6045/rec/check.txt b/N052/stretch3/dr_on/seed_6045/rec/check.txt index 524dcc2af9bd8d48b67d28466452643c416dbd98..2ca8ed03c21b443cad5d6000ad99ff2842a5222a 100644 --- a/N052/stretch3/dr_on/seed_6045/rec/check.txt +++ b/N052/stretch3/dr_on/seed_6045/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_on_6045/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 2966 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 2966 at dataset fps 25 = 118.64 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2966 rows vs ceil(5932/2) = 2966 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..5991, step differences [2] diff --git a/N052/stretch3/dr_on/seed_6045/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_on/seed_6045/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index ae3de2d166b6c87adf44a825b0b8cca6195d84c7..6420ada40c983c09b363e7806f2e1c308b132536 100644 --- a/N052/stretch3/dr_on/seed_6045/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_on/seed_6045/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 2966, "magicsim/control_steps": 5932, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the left of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 2966, "magicsim/control_steps": 5932, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the left of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_on/seed_6045/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_on/seed_6045/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index c01ec418091d90dac340a9b9745e00ed36c0e2e6..8eba0aab3a00c8307235ff2bb3821f7a49735f89 100644 --- a/N052/stretch3/dr_on/seed_6045/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_on/seed_6045/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_on/seed_6045/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_on/seed_6045/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_on/seed_6045/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_on/seed_6045/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."} diff --git a/N052/stretch3/dr_on/seed_6046/rec/check.json b/N052/stretch3/dr_on/seed_6046/rec/check.json index 2583706ea6db7f76144eb99fa748057a6743aefb..53d652ae1903b6bf4bcb55990ffc0ed737e5d9e5 100644 --- a/N052/stretch3/dr_on/seed_6046/rec/check.json +++ b/N052/stretch3/dr_on/seed_6046/rec/check.json @@ -23,7 +23,7 @@ }, "task text = MobileBench instruction": { "pass": true, - "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'" + "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'" }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, diff --git a/N052/stretch3/dr_on/seed_6046/rec/check.txt b/N052/stretch3/dr_on/seed_6046/rec/check.txt index 561dec25924ea6f0a6b5c2b86fd7910feaabda43..6f171c8504241ef9e877d97bb6f157c0d71a231a 100644 --- a/N052/stretch3/dr_on/seed_6046/rec/check.txt +++ b/N052/stretch3/dr_on/seed_6046/rec/check.txt @@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_str_on_6046/out/rec/memorystage/000/ --- episode file episode_000000.parquet: 1910 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] -[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.' +[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.' rows 1910 at dataset fps 25 = 76.40 s [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1910 rows vs ceil(3819/2) = 1910 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..3879, step differences [2] diff --git a/N052/stretch3/dr_on/seed_6046/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl b/N052/stretch3/dr_on/seed_6046/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl index 92d95708232bf0ea7d46540f4895032d8ef5f1df..a053020c9c50035f9cbd33e130860d52660734fa 100644 --- a/N052/stretch3/dr_on/seed_6046/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl +++ b/N052/stretch3/dr_on/seed_6046/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1910, "magicsim/control_steps": 3819, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is in front of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} +{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1910, "magicsim/control_steps": 3819, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is in front of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."} diff --git a/N052/stretch3/dr_on/seed_6046/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json b/N052/stretch3/dr_on/seed_6046/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json index 9e2d02aabf870198ed194233777f2037ce68f5c9..0a5e91ebe7cad2aaba725a887bcfcffd434f77b2 100644 --- a/N052/stretch3/dr_on/seed_6046/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N052/stretch3/dr_on/seed_6046/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json @@ -576,7 +576,7 @@ }, "task": { "task_type": "MemoryStage", - "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.", + "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.", "template_id": -1, "slots": { "obj": 3.141592653589793, diff --git a/N052/stretch3/dr_on/seed_6046/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl b/N052/stretch3/dr_on/seed_6046/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl index d999469154730d779ce359a2299f09714bb10cc0..4b271addf7af98d28c178b831f3056cb82a806e4 100644 --- a/N052/stretch3/dr_on/seed_6046/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl +++ b/N052/stretch3/dr_on/seed_6046/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl @@ -1 +1 @@ -{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."} +{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."}