diff --git a/N011/go2_arm/dr_off/seed_1040/check.json b/N011/go2_arm/dr_off/seed_1040/check.json new file mode 100644 index 0000000000000000000000000000000000000000..fa086ef7973859f14c2c349a887ea53726d5b81d --- /dev/null +++ b/N011/go2_arm/dr_off/seed_1040/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.'; expected 'Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "6445 rows vs ceil(12890/2) = 6445" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 241..13129, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "156.73 MB, 6445 frames at 25 fps, mean luma 100..137, std 8, new picture 6444x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "6445 vs 6445" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "141.11 MB, 6445 frames at 25 fps, mean luma 95..158, std 36, new picture 6444x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "6445 vs 6445" + }, + "sim_info present": { + "pass": true, + "detail": "ladle/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N011/go2_arm/dr_off/seed_1040/check.txt b/N011/go2_arm/dr_off/seed_1040/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..2fe414b7d4a2657d121e1242d137afebec5a2ef6 --- /dev/null +++ b/N011/go2_arm/dr_off/seed_1040/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n011_go2_off_1040/out task=N011 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n011_go2_off_1040/out/ladle/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 6445 videos 2 robot_type Go2PlusCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 6445 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.'; expected 'Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.' +rows 6445 at dataset fps 25 = 257.80 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 6445 rows vs ceil(12890/2) = 6445 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 241..13129, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 156.73 MB, 6445 frames at 25 fps, mean luma 100..137, std 8, new picture 6444x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 6445 vs 6445 +[PASS] video observation.images.wrist decodes, 640x480, not black: 141.11 MB, 6445 frames at 25 fps, mean luma 95..158, std 36, new picture 6444x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 6445 vs 6445 +parquet size 636.62 MB +[PASS] sim_info present: ladle/000/sim_info +dataset size 940.73 MB; whole cell dir 1983.7 MB +RESULT: ALL PASS diff --git a/N011/go2_arm/dr_off/seed_1040/config.yaml b/N011/go2_arm/dr_off/seed_1040/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4c0bd78810164464f80f89934a7f85c5e9f1988e --- /dev/null +++ b/N011/go2_arm/dr_off/seed_1040/config.yaml @@ -0,0 +1,758 @@ +env_string: LadleEnv-V0 +env: + sim: + device: cpu + use_fabric: false + decimation: 4 + dt: 0.005 + seed: 1040 + soft_resets: 1000000 + scene: + num_envs: 1 + env_spacing: 14 + render: + rendering_mode: performance + enable_reflections: false + enable_global_illumination: false + enable_translucency: false + enable_dl_denoiser: false + robot: + Go2Plus: + name: go2plus + type: mobilemanip + common: + pos: + - - -3.0307211805867587 + - -1.6433107541487777 + - 0.45 + - - -3.0307211805867587 + - -1.6433107541487777 + - 0.45 + ori: + - - 0 + - 0 + - 29.999999999999993 + - - 0 + - 0 + - 29.999999999999993 + initial_joint_pos: null + action: + base_action: unified + arm_action: ik_curobo + eef_action: binary + reset: default + planner: + dual_mode: true + base_joint_names: + - base_x + - base_y + - base_yaw + - base_height + ik: + type: go2plus + enable: true + ik_num_instances: 1 + ik_batch_size: 1 + ik_num_seeds: 64 + ik_position_threshold: 0.005 + ik_rotation_threshold: 0.05 + microbatch_wait_ms: 20.0 + relative_to_world_frame: false + eef_num: 1 + debug: false + seed_use_live_joint_pos: true + motiongen: + type: go2plus + enable: true + batch_size: 1 + debug: false + motiongen_num_instances: 1 + microbatch_wait_ms: 400.0 + mode: position + relative_to_world_frame: false + eef_num: 1 + seed_use_live_joint_pos: true + anchor_ik_seeds_to_current_state: false + num_trajopt_seeds: 1 + num_ik_seeds: 4 + max_attempts: 4 + joint_limit_retry_weight: 100000000.0 + start_state_limit_inset: 0.002 + body: + type: nav + dwb_type: dwb_quadruped + dwb_quadruped: + device: cpu + dt: 0.02 + debug: false + num_rollout_steps: 60 + num_speed_samples: 11 + num_steer_samples: 11 + num_vx_samples: 7 + num_vy_samples: 7 + num_yaw_samples: 7 + max_accel: 0.4 + max_steer_rate: 1.5 + max_accel_vx: 0.4 + max_accel_vy: 0.4 + max_yaw_accel: 0.4444444444444445 + w_goal: 6.0 + w_path: 24.0 + w_vel: 0.2 + w_vy: 0.0 + dilate_radius: 0.2 + goal_cost_mode: path + room_size: 12.0 + occupancy_update_interval: 25 + scan_height: 0.38 + scan_min_z: 0.15 + scan_max_z: 0.63 + goal_pos_threshold: 0.16 + goal_yaw_threshold: 0.08 + goal_yaw_hysteresis: 0.02 + kp_goal_yaw: 4.0 + heading_reference: path + turn_yaw_threshold: 0.8 + heading_lookahead: 0.8 + heading_min_leg: 0.35 + route_yaw_gain: 2.0 + min_vx: -0.2 + max_vx: 0.2 + min_vy: -0.2 + max_vy: 0.2 + min_yaw_rate: -0.22222222222222224 + max_yaw_rate: 0.22222222222222224 + dynamic_window_source: command + default_height: 0.35 + safety_min_progress_speed: 0.1 + safety_stop_distance: 0.2 + safety_enabled: true + safety_deceleration: 0.5 + safety_reaction_time: 0.5 + safety_release_distance: 0.35 + scan_type: 3d + robot_type: quadruped + velocity_frame: body + p_controller: + velocity_frame: body + nav_upgrade_distance: 0.03 + nav_heading_target: -1 + kp_linear_x: 3.0 + kd_linear_x: 0.4 + kp_linear_y: 3.0 + kd_linear_y: 0.4 + kp_angular: 1.5 + kd_angular: 0.2 + kp_angular_turning_only: 1.5 + kd_angular_turning_only: 0.2 + min_vel: -0.4 + max_vel: 0.5 + linear_dead_zone: 0.01 + angular_dead_zone: 0.05 + arm: + type: default + eef: + type: default + physics: + robot_radius: 0.5 + camera: + enable_tiled: false + colorize_depth: false + head: + camera: + type: camera + mesh: pinhole + resolution: + - 640 + - 480 + frequency: 25 + focal_length: 1.8231182098388672 + horizontal_aperture: 1.9199999570846558 + vertical_aperture: 1.4407838582992554 + clipping_range: + - 0.05 + - 30.0 + focus_distance: 3.0 + mode: RGB + mount_link: Robot_0/Bodies/go2_base + pos: + - 0.332051 + - 0.038027 + - 0.093559 + ori: + - 169.9473 + - -88.6452 + - 81.5985 + annotator: + enabled: true + rgb_capture: + type: rgb + device: cpu + wrist: + camera: + type: camera + mesh: pinhole + resolution: + - 640 + - 480 + frequency: 25 + focal_length: 1.8517500162124634 + horizontal_aperture: 1.9199999570846558 + vertical_aperture: 1.4393036365509033 + clipping_range: + - 0.05 + - 30.0 + focus_distance: 3.0 + mode: RGB + mount_link: Robot_0/Bodies/piper_link6 + pos: + - -0.074987 + - 0.005289 + - 0.045821 + ori: + - 179.3135 + - -20.212 + - 88.9402 + annotator: + enabled: true + rgb_capture: + type: rgb + device: cpu + scene: + terrain: + type: nav_room + collision: true + hide_top_walls: true + usd: + - $MAGICSIM_ASSETS/Room/Collected_SimpleRoom + annotation: Annotation + random: false + pos: + - 0.0 + - 0.0 + - 0.0 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 1.0 + - 1.0 + - 1.0 + physics_material: + static_friction: 1.0 + dynamic_friction: 1.0 + restitution: 0.0 + friction_combine_mode: multiply + restitution_combine_mode: multiply + background: + intensity: + - 1000 + - 1000 + light: + light_1: + types: + - Dome + common: + pos: + - 0.0 + - 0.0 + - 0.0 + ori: + - 0.0 + - 0.0 + - 0.0 + color_temperature_range: + - 6500 + - 6500 + color_range: + - - 1.0 + - 1.0 + - 1.0 + - - 1.0 + - 1.0 + - 1.0 + Dome: + intensity_range: + - 989.9470003041482 + - 989.9470003041482 + water: + max_particles: 9000 + particle: + fluid_rest_offset: 0.0027 + ccd: true + look: + mode: spheres + color: + - 0.05 + - 0.45 + - 1.0 + bead_scale: 1.5 + retire: + floor_ttl: 3600.0 + max_age: 7200.0 + radius: 30.0 + below: -2.0 + objects: + table_a: + usd: + - Cube + num_per_env: 1 + random: false + table_a_1: + pos: + - -1.0 + - 3.2 + - 0.30500000000000005 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 1.5 + - 0.6 + - 0.55 + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - - 0.35 + - 0.37 + - 0.4 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.825801909369332 + dynamic_friction: 0.6193514320269989 + restitution: 0.0 + table_b: + usd: + - Cube + num_per_env: 1 + random: false + table_b_1: + pos: + - 2.6 + - 0.4 + - 0.30500000000000005 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.7 + - 1.0 + - 0.55 + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - - 0.35 + - 0.37 + - 0.4 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.7494964943239372 + dynamic_friction: 0.5621223707429528 + restitution: 0.0 + ladle: + usd: + - $MAGICSIM_ASSETS/Object/MMB/Ladle/Object.usda + num_per_env: 1 + random: false + ladle_1: + pos: + - -1.3482776117610233 + - 3.1159522538180853 + - 0.7410000000000001 + ori: + - 0.0 + - 0.0 + - 87.39153677727418 + physics: + type: rigid + mass: 0.04844112628959436 + physics_material: + static_friction: 1.7439496024383054 + dynamic_friction: 1.5259559021335172 + restitution: 0.0 + water: {} + rack_a0: + usd: + - Cube + num_per_env: 1 + random: false + rack_a0_1: + pos: + - -1.35 + - 3.205 + - 0.655 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.1 + - 0.06999999999999999 + - 0.15000000000000002 + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - - 0.45 + - 0.3 + - 0.18 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.8659680206945364 + dynamic_friction: 0.6494760155209023 + restitution: 0.0 + basin: + usd: + - $MAGICSIM_ASSETS/Object/MMB/Basin/Object.usda + num_per_env: 1 + random: false + basin_1: + pos: + - -0.55 + - 3.2 + - 0.5950000000000001 + ori: + - 0.0 + - 0.0 + - 0.0 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.8212200974675131 + dynamic_friction: 0.6159150731006348 + restitution: 0.0 + water: {} + cup: + usd: + - $MAGICSIM_ASSETS/Object/MMB/ReceivingCup/Object.usda + num_per_env: 1 + random: false + cup_1: + pos: + - 2.369020034738473 + - 0.41117104275703625 + - 0.5810000000000001 + ori: + - 0.0 + - 0.0 + - 0.0 + physics: + type: rigid + mass: 0.2103928059822823 + physics_material: + static_friction: 0.8724923355974266 + dynamic_friction: 0.6543692516980699 + restitution: 0.0 + water: {} + nav: + navmesh: + enabled: true + visualize: false + bake_timeout_s: 120 + agent_height_cm: 65 + min_agent_radius_cm: 30.0 + max_agent_radius_cm: 30.0 + max_step_height_cm: 20 + max_floor_slope_deg: 30 + agent_island_radius_cm: 5 + auto_exclude_rigid_bodies: true + validate_path_clearance: true + validate_path_window: true + navmesh_offset_z_m: 0 + verbose: true + occupancymap: + cell_size: 0.05 +task: + observation: {} + reward: {} + termination: + timeout_steps: 24000 + success_hold_frames: 1 + mmb: + task_id: N011 + agent_id: a03 + embodiment: stretch3 + level: easy + scene_seed: 1040 + layout: + S: + - -3.0307211805867587 + - -1.6433107541487777 + - 0.5235987755982987 + tables: + A: + center: + - -1.0 + - 3.2 + size: + - 1.5 + - 0.6 + top: 0.5800000000000001 + color: + - 0.35 + - 0.37 + - 0.4 + B: + center: + - 2.6 + - 0.4 + size: + - 0.7 + - 1.0 + top: 0.5800000000000001 + color: + - 0.35 + - 0.37 + - 0.4 + stations: + A: + table: A + work_point: + - -1.35 + - 3.12 + arm_dir: + - 0.0 + - 1.0 + reach: 0.54 + fwd: 0.0 + stand: + - -1.35 + - 2.58 + - 1.5707963267948966 + B: + table: B + work_point: + - 2.38 + - 0.4 + arm_dir: + - 1.0 + - 0.0 + reach: 0.54 + fwd: 0.0 + stand: + - 1.8399999999999999 + - 0.4 + - 0.0 + hold_ticks: 40 + grace_ticks: 400 + water_settle_ticks: 150 + object_settle_ticks: 60 + planning: + avoid: + - dynamic + ignore: + - ladle + - water + water: + max_particles: 9000 + basin: + center: + - -0.55 + - 3.2 + floor_z: 0.5950000000000001 + water_depth: 0.1 + inner: + - 0.12 + - 0.11 + - 0.12 + a2_stand: + - -0.55 + - 2.56 + - 1.5707963267948966 + cup: + center: + - 2.369020034738473 + - 0.41117104275703625 + rim_above_table: 0.075 + success: + min_deliver_ml: 20.0 + max_spill_ml: 15.0 + min_carry_frac: 0.5 + max_base_speed_at_pour: 0.05 + tool: + category: ladle + asset: Ladle + plate_z: 0.7400000000000001 + view: + eye: + - 2.9299999999999997 + - -0.15000000000000002 + - 0.9800000000000001 + target: + - 2.33 + - 0.4 + - 0.68 + dr: + seed: 1040 + spawn_dxy: + - -0.031 + - 0.157 + friction_scale: + basin_1: 1.027 + cup_1: 1.091 + ladle_1: 1.09 + rack_a0_1: 1.082 + table_a_1: 1.032 + table_b_1: 0.937 + moved: + ladle_1: + - 0.0017 + - -0.004 + - -2.61 + cup_1: + - -0.011 + - 0.0112 + light_scale: 1.1 +collect: + command: + Ladle: + stage_retries: 2 + robot_id: 0 + init_limit: 30 + max_attempt: 1 + completion_timeout_steps: 3600 + pre_back: 0.12 + lift: 0.1 + carry: + lateral: 0.5 + forward: 0.0 + z: 0.88 + carry_b: + lateral: 0.5 + forward: 0.0 + z: 0.88 + dip: + above: 0.12 + clear_bottom: 0.006 + rim_under: -0.011 + tilt_deg: 20.0 + fill_ticks: 60 + dwell_ticks: 90 + rise: 0.12 + rise_legs: + - 0.045 + - 0.12 + pour: + clearance: 0.06 + aim: -0.04 + pre_pitch_deg: 10.0 + pre_pitch_variants: + - 0.0 + - 5.0 + - -5.0 + pitch_deg: + - 70.0 + - 100.0 + lip_drift: 0.03 + reach_margin: 0.015 + hold_ticks: 240 + stop_ticks: 90 + drain: + pitch_deg: 85.0 + aim: 0.0 + hold_ticks: 90 + mode: roll + roll_sign: -1.0 + modes: + pre_grasp: -1 + grasp: 4 + lift: 4 + carry: -1 + pre_dip: -1 + dip: 4 + level: 4 + trim: 4 + rise: 4 + pre_pour: 4 + tilt: 4 + retreat: 4 + global_planner: + NavTo: + use_navmesh: true + use_absolute: true + translation_threshold: 0.2 + rotation_threshold: 0.1 + num_path_segments: 30 + start_forward_offset: -0.25 + visualize_path: false + carry_arm: true + NavToTrim: + use_navmesh: false + carry_arm: true + visualize_path: false + trim_pos_threshold: 0.01 + trim_yaw_threshold: 0.015 + max_steps: 1500 + MobileMoveL: + translation_threshold: 0.006 + rotation_threshold: 0.2 + stall_release_ticks: 100 + stall_release_factor: 5.0 + motiongen_distance_threshold: 0.05 + timeout_steps: 3000 + timeout_done_tolerance: 0.06 + debug: false + debug_viz: false + debug_sphere: false + reactive: false + base_pos_threshold: 0.12 + base_rot_threshold: 0.5 + eef_pos_threshold: 0.03 + eef_rot_threshold: 0.3 + waypoint_max_steps: 8 + interp_steps: 480 + interp_validate_target: true + stall_release_final_factor: 10.0 + ParallelGripper: + gripper_threshold: 0.0005 + timeout_steps: 60 + atomic_skill: + NavToPose: + robot_id: 0 + position_threshold: 0.2 + angle_threshold: 0.3 + trim: false + Move: + robot_id: 0 + hand_id: 0 + arm_planner: MobileMoveL + hand_planner: ParallelGripper + ramp_steps: 0 + hold_steps: 60 + open_value: 0.0 + close_value: 1.0 + auto_collect: + task_type: ladle + max_trajectories: 1 + record: + output_dir: /mnt/scratch/xc536_atomic/n011_go2_off_1040/out + formats: + - lerobot_v21 + - sim_info + clear_buffer_on_failure: true + lerobot: + subsample_every: 2 +visual_dr: + keep: + - Water diff --git a/N011/go2_arm/dr_off/seed_1040/ladle/000/completed/0.json b/N011/go2_arm/dr_off/seed_1040/ladle/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..7ce6876edc0957a9ea82394c77092d7ccdaaeef6 --- /dev/null +++ b/N011/go2_arm/dr_off/seed_1040/ladle/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "ladle/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N011/go2_arm/dr_off/seed_1040/ladle/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N011/go2_arm/dr_off/seed_1040/ladle/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..2e74d81f7a1a7a3460f3727c3280119c82995416 --- /dev/null +++ b/N011/go2_arm/dr_off/seed_1040/ladle/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2f1d9240934f4c7a9511276ce4a6a4f48e4228798634ac1d8044bc46c93bfec4 +size 636621721 diff --git a/N011/go2_arm/dr_off/seed_1040/ladle/000/lerobot_v21/meta/episodes.jsonl b/N011/go2_arm/dr_off/seed_1040/ladle/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..06d3918dd9458714d26636c6155104d15791a940 --- /dev/null +++ b/N011/go2_arm/dr_off/seed_1040/ladle/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup."], "length": 6445, "magicsim/control_steps": 12890, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown rack a0. There are a large gray table a, a large gray table b, a medium ladle, a large brown rack a0, a medium basin and a small cup. The gray table a is to the right of the brown rack a0. The gray table b is to the right of the cup. The ladle is on top of the brown rack a0. The ladle is to the right of the brown rack a0. The brown rack a0 is to the left of the ladle. The basin is on top of the gray table a. The basin is to the right of the gray table a. The cup is on top of the gray table b. The cup is to the left of the gray table b. The scene is lit by a cool light from the front. The scene is viewed from front, at table height."} diff --git a/N011/go2_arm/dr_off/seed_1040/ladle/000/lerobot_v21/meta/episodes_stats.jsonl b/N011/go2_arm/dr_off/seed_1040/ladle/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5c95b8aa1c7cb5c6ac63811cd5b6f94e2724f14c --- /dev/null +++ b/N011/go2_arm/dr_off/seed_1040/ladle/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.03532220507712559, -0.0009966026349650671, -0.0027934547560415942, 0.34340995176065975, 0.23059035594191452, 1.694227702290259, 0.7944107938682136, 0.373343822655507, 0.08064561553439617, 0.5974492917373441, 0.38326543396663243, 0.8400310318076027], "std": [0.07784606161632572, 0.028833723916672976, 0.0900351540347619, 0.010735973543497968, 1.5377556302602133, 1.216773338973038, 0.10208899572226494, 0.36800818434437205, 0.3113283977631657, 0.19016921258376, 0.2859245316288762, 0.3665772734470698], 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3):torch.float32", + "/robot_state[0]/Go2Plus/base_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32", + "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32", + "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32" + ], + "review_cameras": [], + "elapsed_s": 4084.7, + "full_successes": 1 +} diff --git a/N011/go2_arm/dr_off/seed_1040/snap/episode_01_end.png b/N011/go2_arm/dr_off/seed_1040/snap/episode_01_end.png new file mode 100644 index 0000000000000000000000000000000000000000..9bb1e23ba0c81ec50dbea473d5aee0b6592175de --- /dev/null +++ b/N011/go2_arm/dr_off/seed_1040/snap/episode_01_end.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a3f0644f14d62798a0f2cd67e89b7e48a6a804671920e073cb92e3968d0b2e53 +size 491712 diff --git a/N011/go2_arm/dr_off/seed_1040/snap_close/episode_01_end.png b/N011/go2_arm/dr_off/seed_1040/snap_close/episode_01_end.png new file mode 100644 index 0000000000000000000000000000000000000000..e609b03224b715d5879e36fb42eeffd79a4e7e14 --- /dev/null +++ b/N011/go2_arm/dr_off/seed_1040/snap_close/episode_01_end.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c218778ef1df87f864a990a6a422e31390800033ead886ea11b731c380661fd +size 476636 diff --git a/N011/stretch3/dr_off/seed_1029/check.json b/N011/stretch3/dr_off/seed_1029/check.json new file mode 100644 index 0000000000000000000000000000000000000000..68c56fe3bec7dd161d5a1f9ba4589950d513cee8 --- /dev/null +++ b/N011/stretch3/dr_off/seed_1029/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.'; expected 'Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "4228 rows vs ceil(8456/2) = 4228" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 241..8695, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "112.00 MB, 4228 frames at 25 fps, mean luma 98..144, std 12, new picture 4227x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "4228 vs 4228" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "107.19 MB, 4228 frames at 25 fps, mean luma 107..147, std 29, new picture 4227x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "4228 vs 4228" + }, + "sim_info present": { + "pass": true, + "detail": "ladle/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N011/stretch3/dr_off/seed_1029/check.txt b/N011/stretch3/dr_off/seed_1029/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..46a174a916480a7c0b19c9666cf752f0b99d2065 --- /dev/null +++ b/N011/stretch3/dr_off/seed_1029/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n011_str_off_1029/out task=N011 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n011_str_off_1029/out/ladle/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 4228 videos 2 robot_type HelloRobotCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 4228 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.'; expected 'Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.' +rows 4228 at dataset fps 25 = 169.12 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 4228 rows vs ceil(8456/2) = 4228 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 241..8695, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 112.00 MB, 4228 frames at 25 fps, mean luma 98..144, std 12, new picture 4227x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 4228 vs 4228 +[PASS] video observation.images.wrist decodes, 640x480, not black: 107.19 MB, 4228 frames at 25 fps, mean luma 107..147, std 29, new picture 4227x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 4228 vs 4228 +parquet size 414.25 MB +[PASS] sim_info present: ladle/000/sim_info +dataset size 639.59 MB; whole cell dir 1323.7 MB +RESULT: ALL PASS diff --git a/N011/stretch3/dr_off/seed_1029/config.yaml b/N011/stretch3/dr_off/seed_1029/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..25551545656bf21461281c51503b95fa1a0b612a --- /dev/null +++ b/N011/stretch3/dr_off/seed_1029/config.yaml @@ -0,0 +1,727 @@ +env_string: LadleEnv-V0 +env: + sim: + device: cpu + use_fabric: false + decimation: 4 + dt: 0.005 + seed: 1029 + soft_resets: 1000000 + scene: + num_envs: 1 + env_spacing: 14 + render: + rendering_mode: performance + enable_reflections: false + enable_global_illumination: false + enable_translucency: false + enable_dl_denoiser: false + robot: + HelloRobot: + name: hellorobot + type: mobilemanip + common: + pos: + - - -2.9511636410771063 + - -1.5725004147093606 + - 0.06 + - - -2.9511636410771063 + - -1.5725004147093606 + - 0.06 + ori: + - - 0 + - 0 + - -114.99999999999997 + - - 0 + - 0 + - -114.99999999999997 + initial_joint_pos: + joint_lift: 0.55 + joint_arm_l[0-3]: 0.025 + joint_wrist_yaw: 0.0 + joint_wrist_roll: 1.5707963267948966 + action: + base_action: differential_virtual + arm_action: ik_abs + eef_action: binary + planner: + dual_mode: true + base_joint_names: + - dummy_base_prismatic_x_joint + - dummy_base_prismatic_y_joint + - dummy_base_revolute_z_joint + obstacle_ignore_categories: [] + ik: + type: hellorobot + enable: true + ik_num_instances: 1 + ik_batch_size: 1 + ik_num_seeds: 32 + ik_max_goalset: 1 + ik_position_threshold: 0.003 + ik_rotation_threshold: 0.02 + microbatch_wait_ms: 1.0 + seed_use_live_joint_pos: true + motiongen: + type: hellorobot + enable: true + motiongen_num_instances: 1 + batch_size: 1 + microbatch_wait_ms: 1.0 + seed_use_live_joint_pos: true + mode: position + num_trajopt_seeds: 1 + num_ik_seeds: 4 + body: + type: nav + dwb_type: dwb_differential + dwb_differential: + device: cpu + dt: 0.02 + debug: false + num_rollout_steps: 60 + num_speed_samples: 11 + num_steer_samples: 11 + num_vx_samples: 7 + num_vy_samples: 7 + num_yaw_samples: 7 + max_accel: 0.4 + max_steer_rate: 1.5 + max_accel_vx: 0.4 + max_accel_vy: 0.4 + max_yaw_accel: 1.5 + w_goal: 6.0 + w_path: 8.0 + w_vel: 0.2 + w_vy: 0.0 + dilate_radius: 0.4 + room_size: 12.0 + occupancy_update_interval: 50 + scan_height: 0.45 + scan_min_z: 0.22 + scan_max_z: 1.75 + goal_pos_threshold: 0.07 + goal_yaw_threshold: 0.15 + kp_goal_yaw: 1.5 + min_speed: -0.2 + max_speed: 0.2 + w_heading: 0.5 + min_yaw_rate: -0.8 + max_yaw_rate: 0.8 + safety_enabled: true + safety_deceleration: 0.5 + safety_reaction_time: 0.5 + goal_heading_fade_distance: 0.5 + scan_type: 3d + own_body_clear: true + own_body_radius: 0.15 + p_controller: + kp_angular_turning_only: 2.0 + kd_angular_turning_only: 0.2 + kp_linear_x: 2.0 + kp_linear_y: 2.0 + kp_angular: 2.0 + kd_linear_x: 0.1 + kd_linear_y: 0.1 + min_vel: -0.25 + max_vel: 0.35 + linear_dead_zone: 0.003 + angular_dead_zone: 0.008 + nav_heading_target: 1 + velocity_frame: world + arm: + type: default + eef: + type: default + physics: + robot_radius: 0.4 + wheel_base: 0.5 + reset: default + camera: + enable_tiled: false + colorize_depth: false + head: + camera: + type: camera + mesh: pinhole + resolution: + - 640 + - 480 + frequency: 25 + focal_length: 2.73834228515625 + horizontal_aperture: 2.1600000858306885 + vertical_aperture: 1.62 + clipping_range: + - 0.05 + - 30.0 + focus_distance: 3.0 + mode: RGB + mount_link: Robot_0/base_link + pos: + - 0.049771 + - -0.002942 + - 1.295723 + ori: + - 0.0002 + - -55.623 + - -90.0 + annotator: + enabled: true + rgb_capture: + type: rgb + device: cpu + wrist: + camera: + type: camera + mesh: pinhole + resolution: + - 640 + - 480 + frequency: 25 + focal_length: 1.280753493309021 + horizontal_aperture: 1.9199999570846558 + vertical_aperture: 1.44 + clipping_range: + - 0.05 + - 30.0 + focus_distance: 3.0 + mode: RGB + mount_link: Robot_0/link_gripper_s3_body + pos: + - 0.009 + - 0.062939 + - 0.056398 + ori: + - -170.0021 + - 0.0 + - -179.9998 + annotator: + enabled: true + rgb_capture: + type: rgb + device: cpu + scene: + terrain: + type: nav_room + collision: true + hide_top_walls: true + usd: + - $MAGICSIM_ASSETS/Room/Collected_SimpleRoom + annotation: Annotation + random: false + pos: + - 0.0 + - 0.0 + - 0.0 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 1.0 + - 1.0 + - 1.0 + physics_material: + static_friction: 1.0 + dynamic_friction: 1.0 + restitution: 0.0 + friction_combine_mode: multiply + restitution_combine_mode: multiply + background: + intensity: + - 1000 + - 1000 + light: + light_1: + types: + - Dome + common: + pos: + - 0.0 + - 0.0 + - 0.0 + ori: + - 0.0 + - 0.0 + - 0.0 + color_temperature_range: + - 6500 + - 6500 + color_range: + - - 1.0 + - 1.0 + - 1.0 + - - 1.0 + - 1.0 + - 1.0 + Dome: + intensity_range: + - 843.5231304833694 + - 843.5231304833694 + water: + max_particles: 9000 + particle: + fluid_rest_offset: 0.0027 + ccd: true + look: + mode: spheres + color: + - 0.05 + - 0.45 + - 1.0 + bead_scale: 1.5 + retire: + floor_ttl: 3600.0 + max_age: 7200.0 + radius: 30.0 + below: -2.0 + objects: + table_a: + usd: + - Cube + num_per_env: 1 + random: false + table_a_1: + pos: + - -1.0 + - 3.2 + - 0.30500000000000005 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 1.5 + - 0.6 + - 0.55 + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - - 0.35 + - 0.37 + - 0.4 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.8204309697504875 + dynamic_friction: 0.6153232273128655 + restitution: 0.0 + table_b: + usd: + - Cube + num_per_env: 1 + random: false + table_b_1: + pos: + - 2.6 + - 0.4 + - 0.30500000000000005 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.7 + - 1.0 + - 0.55 + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - - 0.35 + - 0.37 + - 0.4 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.8797911380798719 + dynamic_friction: 0.6598433535599039 + restitution: 0.0 + ladle: + usd: + - $MAGICSIM_ASSETS/Object/MMB/Ladle/Object.usda + num_per_env: 1 + random: false + ladle_1: + pos: + - -1.3557830748750357 + - 3.124442433865105 + - 0.7410000000000001 + ori: + - 0.0 + - 0.0 + - 91.1825719079016 + physics: + type: rigid + mass: 0.04516469633280568 + physics_material: + static_friction: 1.5306304885461157 + dynamic_friction: 1.339301677477851 + restitution: 0.0 + water: {} + rack_a0: + usd: + - Cube + num_per_env: 1 + random: false + rack_a0_1: + pos: + - -1.35 + - 3.205 + - 0.655 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.1 + - 0.06999999999999999 + - 0.15000000000000002 + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - - 0.45 + - 0.3 + - 0.18 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.7234416977085001 + dynamic_friction: 0.5425812732813751 + restitution: 0.0 + basin: + usd: + - $MAGICSIM_ASSETS/Object/MMB/Basin/Object.usda + num_per_env: 1 + random: false + basin_1: + pos: + - -0.55 + - 3.2 + - 0.5950000000000001 + ori: + - 0.0 + - 0.0 + - 0.0 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.7668053468508431 + dynamic_friction: 0.5751040101381323 + restitution: 0.0 + water: {} + cup: + usd: + - $MAGICSIM_ASSETS/Object/MMB/ReceivingCup/Object.usda + num_per_env: 1 + random: false + cup_1: + pos: + - 2.4012785558609684 + - 0.4066839865543677 + - 0.5810000000000001 + ori: + - 0.0 + - 0.0 + - 0.0 + physics: + type: rigid + mass: 0.2035115678394256 + physics_material: + static_friction: 0.762641769014205 + dynamic_friction: 0.5719813267606537 + restitution: 0.0 + water: {} + nav: + navmesh: + enabled: true + visualize: false + bake_timeout_s: 120 + agent_height_cm: 170 + min_agent_radius_cm: 55.0 + max_agent_radius_cm: 55.0 + max_step_height_cm: 20 + max_floor_slope_deg: 30 + agent_island_radius_cm: 5 + auto_exclude_rigid_bodies: true + validate_path_clearance: true + validate_path_window: true + navmesh_offset_z_m: 0 + verbose: true + occupancymap: + cell_size: 0.05 +task: + observation: {} + reward: {} + termination: + timeout_steps: 24000 + success_hold_frames: 1 + mmb: + task_id: N011 + agent_id: a03 + embodiment: stretch3 + level: easy + scene_seed: 1029 + layout: + S: + - -2.9511636410771063 + - -1.5725004147093606 + - -2.0071286397934784 + tables: + A: + center: + - -1.0 + - 3.2 + size: + - 1.5 + - 0.6 + top: 0.5800000000000001 + color: + - 0.35 + - 0.37 + - 0.4 + B: + center: + - 2.6 + - 0.4 + size: + - 0.7 + - 1.0 + top: 0.5800000000000001 + color: + - 0.35 + - 0.37 + - 0.4 + stations: + A: + table: A + work_point: + - -1.35 + - 3.12 + arm_dir: + - 0.0 + - 1.0 + reach: 0.9 + fwd: -0.021 + stand: + - -1.371 + - 2.22 + - -3.141592653589793 + B: + table: B + work_point: + - 2.38 + - 0.4 + arm_dir: + - 1.0 + - 0.0 + reach: 0.63 + fwd: -0.021 + stand: + - 1.75 + - 0.42100000000000004 + - 1.5707963267948966 + hold_ticks: 40 + grace_ticks: 400 + water_settle_ticks: 150 + object_settle_ticks: 60 + planning: + avoid: + - dynamic + ignore: + - ladle + - water + water: + max_particles: 9000 + basin: + center: + - -0.55 + - 3.2 + floor_z: 0.5950000000000001 + water_depth: 0.1 + inner: + - 0.12 + - 0.11 + - 0.12 + a2_stand: + - -0.559 + - 2.325 + - -3.141592653589793 + cup: + center: + - 2.4012785558609684 + - 0.4066839865543677 + rim_above_table: 0.075 + success: + min_deliver_ml: 20.0 + max_spill_ml: 15.0 + min_carry_frac: 0.5 + max_base_speed_at_pour: 0.05 + tool: + category: ladle + asset: Ladle + plate_z: 0.7400000000000001 + view: + eye: + - 2.9299999999999997 + - -0.15000000000000002 + - 0.9800000000000001 + target: + - 2.33 + - 0.4 + - 0.68 + dr: + seed: 1029 + spawn_dxy: + - 0.049 + - 0.227 + friction_scale: + basin_1: 0.959 + cup_1: 0.953 + ladle_1: 0.957 + rack_a0_1: 0.904 + table_a_1: 1.026 + table_b_1: 1.1 + moved: + ladle_1: + - -0.0058 + - 0.0044 + - 1.18 + cup_1: + - 0.0213 + - 0.0067 + light_scale: 0.937 +collect: + command: + Ladle: + stage_retries: 2 + robot_id: 0 + init_limit: 30 + max_attempt: 1 + completion_timeout_steps: 3600 + pre_back: 0.12 + lift: 0.22 + carry: + lateral: 0.6 + forward: 0.0 + z: 0.95 + dip: + above: 0.12 + clear_bottom: 0.006 + rim_under: 0.012 + tilt_deg: 35.0 + fill_ticks: 60 + dwell_ticks: 90 + rise: 0.2 + pour: + clearance: 0.06 + aim: -0.04 + pre_pitch_deg: 35.0 + pre_pitch_variants: + - 0.0 + - 5.0 + - 10.0 + pitch_deg: + - 55.0 + - 80.0 + lip_drift: 0.03 + reach_margin: 0.015 + hold_ticks: 240 + stop_ticks: 90 + drain: + pitch_deg: 60.0 + aim: 0.0 + hold_ticks: 90 + modes: + pre_grasp: -1 + grasp: 4 + lift: 4 + carry: -1 + pre_dip: -1 + dip: 4 + level: 4 + trim: 4 + rise: 4 + pre_pour: -1 + tilt: -1 + retreat: 4 + global_planner: + NavTo: + use_navmesh: true + use_absolute: true + translation_threshold: 0.15 + rotation_threshold: 3.3 + num_path_segments: 30 + start_forward_offset: 0.0 + visualize_path: false + carry_arm: true + NavToTrim: + use_navmesh: false + carry_arm: true + visualize_path: false + trim_pos_threshold: 0.01 + trim_yaw_threshold: 0.015 + max_steps: 1500 + MobileMoveL: + translation_threshold: 0.008 + rotation_threshold: 0.08 + stall_release_ticks: 80 + stall_release_factor: 2.5 + motiongen_distance_threshold: 0.0 + timeout_steps: 900 + debug: false + debug_viz: false + debug_sphere: false + reactive: false + base_pos_threshold: 0.025 + base_rot_threshold: 0.05 + eef_pos_threshold: 0.03 + eef_rot_threshold: 0.1 + waypoint_max_steps: 30 + interp_steps: 120 + ParallelGripper: + gripper_threshold: 0.001 + atomic_skill: + NavToPose: + robot_id: 0 + position_threshold: 0.15 + angle_threshold: 3.3 + trim: true + Move: + robot_id: 0 + hand_id: 0 + arm_planner: MobileMoveL + hand_planner: ParallelGripper + ramp_steps: 0 + hold_steps: 60 + open_value: 0.0 + close_value: 1.0 + auto_collect: + task_type: ladle + max_trajectories: 1 + record: + output_dir: /mnt/scratch/xc536_atomic/n011_str_off_1029/out + formats: + - lerobot_v21 + - sim_info + clear_buffer_on_failure: true + lerobot: + subsample_every: 2 +visual_dr: + keep: + - Water diff --git a/N011/stretch3/dr_off/seed_1029/ladle/000/completed/0.json b/N011/stretch3/dr_off/seed_1029/ladle/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..7ce6876edc0957a9ea82394c77092d7ccdaaeef6 --- /dev/null +++ b/N011/stretch3/dr_off/seed_1029/ladle/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "ladle/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N011/stretch3/dr_off/seed_1029/ladle/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N011/stretch3/dr_off/seed_1029/ladle/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..a8bfd03a3dfb3c70ec168066f8ea6433fd8f0d8b --- /dev/null +++ b/N011/stretch3/dr_off/seed_1029/ladle/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf8ef5c00adc7c2fbba3bdf03ed32310f0c964fa22f26dd8947273a2ef55972c +size 414247002 diff --git a/N011/stretch3/dr_off/seed_1029/ladle/000/lerobot_v21/meta/episodes.jsonl b/N011/stretch3/dr_off/seed_1029/ladle/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..91a888466bbc699503512b1b1c066e00cf52eafa --- /dev/null +++ b/N011/stretch3/dr_off/seed_1029/ladle/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup."], "length": 4228, "magicsim/control_steps": 8456, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the brown rack a0. There are a large gray table a, a large gray table b, a medium ladle, a large brown rack a0, a medium basin and a small cup. The gray table a is to the left of the brown rack a0. The gray table b is to the left of the cup. The ladle is on top of the brown rack a0. The ladle is in front of the brown rack a0. The brown rack a0 is behind the ladle. The basin is on top of the gray table a. The basin is to the left of the gray table a. The cup is on top of the gray table b. The cup is to the right of the gray table b. The scene is lit by a cool light from the back-left. The scene is viewed from back-left, slightly above table height."} diff --git a/N011/stretch3/dr_off/seed_1029/ladle/000/lerobot_v21/meta/episodes_stats.jsonl b/N011/stretch3/dr_off/seed_1029/ladle/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7b34861cae53c90341b962f66ad6ad513cbbc8cf --- /dev/null +++ b/N011/stretch3/dr_off/seed_1029/ladle/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [-0.007827781829383849, -3.7059860058171124e-05, 0.021160794506175487, -0.2241452642687391, 1.7514070289257064, 0.8653108200997593, 0.1403954549214134, 0.1296835715724763, 0.29987207523484555, 0.3432444737538653, 0.7119205298013245], "std": [0.09551163434706575, 0.000996484265341752, 0.18619197962234915, 1.575828520363035, 1.2322922871377162, 0.10540233181145521, 0.5164189637286491, 0.4900065300531727, 0.38960469447268975, 0.31167998413657394, 0.4528682910612678], "min": 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There are a large gray table a, a large gray table b, a medium ladle, a large brown rack a0, a medium basin and a small cup. The gray table a is to the left of the brown rack a0. The gray table b is to the left of the cup. The ladle is on top of the brown rack a0. The ladle is in front of the brown rack a0. The brown rack a0 is behind the ladle. The basin is on top of the gray table a. The basin is to the left of the gray table a. The cup is on top of the gray table b. The cup is to the right of the gray table b. The scene is lit by a cool light from the back-left. The scene is viewed from back-left, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [robot]\n\n\n\n\n\n[[cup] b]\n [rack a0]\n [t[basin]" + }, + "task": { + "task_type": "Ladle", + "instruction": "Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.", + "template_id": -1, + "slots": { + "obj": -3.141592653589793, + "support": null + }, + "generic_instruction": "Ladle the -3.141592653589793.", + "task_id": "N011", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": {} + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N011/stretch3/dr_off/seed_1029/ladle/000/lerobot_v21/meta/info.json b/N011/stretch3/dr_off/seed_1029/ladle/000/lerobot_v21/meta/info.json new file mode 100644 index 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"/robot_state[0]/HelloRobot/base_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/joint_effort:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_pos:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_vel:(1, 15):torch.float32" + ], + "review_cameras": [], + "elapsed_s": 1649.0, + "full_successes": 1 +} diff --git a/N011/stretch3/dr_off/seed_1029/snap/episode_01_end.png b/N011/stretch3/dr_off/seed_1029/snap/episode_01_end.png new file mode 100644 index 0000000000000000000000000000000000000000..70115099910063ce1d7a5999bf01909cabbf6868 --- /dev/null +++ b/N011/stretch3/dr_off/seed_1029/snap/episode_01_end.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:49b6d3fd5a857d5817417a14db760402ede1929c49f171f3adb3bc4c13f83944 +size 491690 diff --git a/N011/stretch3/dr_off/seed_1029/snap_close/episode_01_end.png b/N011/stretch3/dr_off/seed_1029/snap_close/episode_01_end.png new file mode 100644 index 0000000000000000000000000000000000000000..902eae7ee36415d560785bb339b50eaf87ca2590 --- /dev/null +++ b/N011/stretch3/dr_off/seed_1029/snap_close/episode_01_end.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41970f130b057d9413af39da83d6b425564113c66bfdbb90c760a09a7377fd03 +size 522488 diff --git a/N011/stretch3/dr_on/seed_2027/check.json b/N011/stretch3/dr_on/seed_2027/check.json new file mode 100644 index 0000000000000000000000000000000000000000..d3bb78b0e11c86cf5d42d135bcad8e65a340fedf --- /dev/null +++ b/N011/stretch3/dr_on/seed_2027/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.'; expected 'Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "4263 rows vs ceil(8526/2) = 4263" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 241..8765, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "105.92 MB, 4263 frames at 25 fps, mean luma 95..143, std 21, new picture 4262x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "4263 vs 4263" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "102.59 MB, 4263 frames at 25 fps, mean luma 88..122, std 28, new picture 4262x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "4263 vs 4263" + }, + "sim_info present": { + "pass": true, + "detail": "ladle/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N011/stretch3/dr_on/seed_2027/check.txt b/N011/stretch3/dr_on/seed_2027/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..ee749adfcd8e9359e706997fcdb1bf5d01225edc --- /dev/null +++ b/N011/stretch3/dr_on/seed_2027/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n011_str_on_2027/out task=N011 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n011_str_on_2027/out/ladle/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 4263 videos 2 robot_type HelloRobotCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 4263 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.'; expected 'Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.' +rows 4263 at dataset fps 25 = 170.52 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 4263 rows vs ceil(8526/2) = 4263 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 241..8765, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 105.92 MB, 4263 frames at 25 fps, mean luma 95..143, std 21, new picture 4262x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 4263 vs 4263 +[PASS] video observation.images.wrist decodes, 640x480, not black: 102.59 MB, 4263 frames at 25 fps, mean luma 88..122, std 28, new picture 4262x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 4263 vs 4263 +parquet size 417.75 MB +[PASS] sim_info present: ladle/000/sim_info +dataset size 632.41 MB; whole cell dir 1322.3 MB +RESULT: ALL PASS diff --git a/N011/stretch3/dr_on/seed_2027/config.yaml b/N011/stretch3/dr_on/seed_2027/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a83e02248574cef982a2bc34c50b57f261b7dc80 --- /dev/null +++ b/N011/stretch3/dr_on/seed_2027/config.yaml @@ -0,0 +1,727 @@ +env_string: LadleEnv-V0 +env: + sim: + device: cpu + use_fabric: false + decimation: 4 + dt: 0.005 + seed: 2027 + soft_resets: 1000000 + scene: + num_envs: 1 + env_spacing: 14 + render: + rendering_mode: performance + enable_reflections: false + enable_global_illumination: false + enable_translucency: false + enable_dl_denoiser: false + robot: + HelloRobot: + name: hellorobot + type: mobilemanip + common: + pos: + - - -2.915876898625249 + - -1.8695644547263341 + - 0.06 + - - -2.915876898625249 + - -1.8695644547263341 + - 0.06 + ori: + - - 0 + - 0 + - -114.99999999999997 + - - 0 + - 0 + - -114.99999999999997 + initial_joint_pos: + joint_lift: 0.55 + joint_arm_l[0-3]: 0.025 + joint_wrist_yaw: 0.0 + joint_wrist_roll: 1.5707963267948966 + action: + base_action: differential_virtual + arm_action: ik_abs + eef_action: binary + planner: + dual_mode: true + base_joint_names: + - dummy_base_prismatic_x_joint + - dummy_base_prismatic_y_joint + - dummy_base_revolute_z_joint + obstacle_ignore_categories: [] + ik: + type: hellorobot + enable: true + ik_num_instances: 1 + ik_batch_size: 1 + ik_num_seeds: 32 + ik_max_goalset: 1 + ik_position_threshold: 0.003 + ik_rotation_threshold: 0.02 + microbatch_wait_ms: 1.0 + seed_use_live_joint_pos: true + motiongen: + type: hellorobot + enable: true + motiongen_num_instances: 1 + batch_size: 1 + microbatch_wait_ms: 1.0 + seed_use_live_joint_pos: true + mode: position + num_trajopt_seeds: 1 + num_ik_seeds: 4 + body: + type: nav + dwb_type: dwb_differential + dwb_differential: + device: cpu + dt: 0.02 + debug: false + num_rollout_steps: 60 + num_speed_samples: 11 + num_steer_samples: 11 + num_vx_samples: 7 + num_vy_samples: 7 + num_yaw_samples: 7 + max_accel: 0.4 + max_steer_rate: 1.5 + max_accel_vx: 0.4 + max_accel_vy: 0.4 + max_yaw_accel: 1.5 + w_goal: 6.0 + w_path: 8.0 + w_vel: 0.2 + w_vy: 0.0 + dilate_radius: 0.4 + room_size: 12.0 + occupancy_update_interval: 50 + scan_height: 0.45 + scan_min_z: 0.22 + scan_max_z: 1.75 + goal_pos_threshold: 0.07 + goal_yaw_threshold: 0.15 + kp_goal_yaw: 1.5 + min_speed: -0.2 + max_speed: 0.2 + w_heading: 0.5 + min_yaw_rate: -0.8 + max_yaw_rate: 0.8 + safety_enabled: true + safety_deceleration: 0.5 + safety_reaction_time: 0.5 + goal_heading_fade_distance: 0.5 + scan_type: 3d + own_body_clear: true + own_body_radius: 0.15 + p_controller: + kp_angular_turning_only: 2.0 + kd_angular_turning_only: 0.2 + kp_linear_x: 2.0 + kp_linear_y: 2.0 + kp_angular: 2.0 + kd_linear_x: 0.1 + kd_linear_y: 0.1 + min_vel: -0.25 + max_vel: 0.35 + linear_dead_zone: 0.003 + angular_dead_zone: 0.008 + nav_heading_target: 1 + velocity_frame: world + arm: + type: default + eef: + type: default + physics: + robot_radius: 0.4 + wheel_base: 0.5 + reset: default + camera: + enable_tiled: false + colorize_depth: false + head: + camera: + type: camera + mesh: pinhole + resolution: + - 640 + - 480 + frequency: 25 + focal_length: 2.73834228515625 + horizontal_aperture: 2.1600000858306885 + vertical_aperture: 1.62 + clipping_range: + - 0.05 + - 30.0 + focus_distance: 3.0 + mode: RGB + mount_link: Robot_0/base_link + pos: + - 0.049771 + - -0.002942 + - 1.295723 + ori: + - 0.0002 + - -55.623 + - -90.0 + annotator: + enabled: true + rgb_capture: + type: rgb + device: cpu + wrist: + camera: + type: camera + mesh: pinhole + resolution: + - 640 + - 480 + frequency: 25 + focal_length: 1.280753493309021 + horizontal_aperture: 1.9199999570846558 + vertical_aperture: 1.44 + clipping_range: + - 0.05 + - 30.0 + focus_distance: 3.0 + mode: RGB + mount_link: Robot_0/link_gripper_s3_body + pos: + - 0.009 + - 0.062939 + - 0.056398 + ori: + - -170.0021 + - 0.0 + - -179.9998 + annotator: + enabled: true + rgb_capture: + type: rgb + device: cpu + scene: + terrain: + type: nav_room + collision: true + hide_top_walls: true + usd: + - $MAGICSIM_ASSETS/Room/Collected_SimpleRoom + annotation: Annotation + random: false + pos: + - 0.0 + - 0.0 + - 0.0 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 1.0 + - 1.0 + - 1.0 + physics_material: + static_friction: 1.0 + dynamic_friction: 1.0 + restitution: 0.0 + friction_combine_mode: multiply + restitution_combine_mode: multiply + background: + intensity: + - 1000 + - 1000 + light: + light_1: + types: + - Dome + common: + pos: + - 0.0 + - 0.0 + - 0.0 + ori: + - 0.0 + - 0.0 + - 0.0 + color_temperature_range: + - 6500 + - 6500 + color_range: + - - 1.0 + - 1.0 + - 1.0 + - - 1.0 + - 1.0 + - 1.0 + Dome: + intensity_range: + - 874.3467415002034 + - 874.3467415002034 + water: + max_particles: 9000 + particle: + fluid_rest_offset: 0.0027 + ccd: true + look: + mode: spheres + color: + - 0.05 + - 0.45 + - 1.0 + bead_scale: 1.5 + retire: + floor_ttl: 3600.0 + max_age: 7200.0 + radius: 30.0 + below: -2.0 + objects: + table_a: + usd: + - Cube + num_per_env: 1 + random: false + table_a_1: + pos: + - -1.0 + - 3.2 + - 0.30500000000000005 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 1.5 + - 0.6 + - 0.55 + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - - 0.35 + - 0.37 + - 0.4 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.746952729756713 + dynamic_friction: 0.5602145473175347 + restitution: 0.0 + table_b: + usd: + - Cube + num_per_env: 1 + random: false + table_b_1: + pos: + - 2.6 + - 0.4 + - 0.30500000000000005 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.7 + - 1.0 + - 0.55 + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - - 0.35 + - 0.37 + - 0.4 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.8131906774009892 + dynamic_friction: 0.6098930080507419 + restitution: 0.0 + ladle: + usd: + - $MAGICSIM_ASSETS/Object/MMB/Ladle/Object.usda + num_per_env: 1 + random: false + ladle_1: + pos: + - -1.344717363862805 + - 3.113234795057514 + - 0.7410000000000001 + ori: + - 0.0 + - 0.0 + - 91.07820000655924 + physics: + type: rigid + mass: 0.04878590481787785 + physics_material: + static_friction: 1.5994195728895024 + dynamic_friction: 1.3994921262783144 + restitution: 0.0 + water: {} + rack_a0: + usd: + - Cube + num_per_env: 1 + random: false + rack_a0_1: + pos: + - -1.35 + - 3.205 + - 0.655 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.1 + - 0.06999999999999999 + - 0.15000000000000002 + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - - 0.45 + - 0.3 + - 0.18 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.7887351116865431 + dynamic_friction: 0.5915513337649072 + restitution: 0.0 + basin: + usd: + - $MAGICSIM_ASSETS/Object/MMB/Basin/Object.usda + num_per_env: 1 + random: false + basin_1: + pos: + - -0.55 + - 3.2 + - 0.5950000000000001 + ori: + - 0.0 + - 0.0 + - 0.0 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.8187214889610094 + dynamic_friction: 0.614041116720757 + restitution: 0.0 + water: {} + cup: + usd: + - $MAGICSIM_ASSETS/Object/MMB/ReceivingCup/Object.usda + num_per_env: 1 + random: false + cup_1: + pos: + - 2.390551360561359 + - 0.4039028331132412 + - 0.5810000000000001 + ori: + - 0.0 + - 0.0 + - 0.0 + physics: + type: rigid + mass: 0.20460448695438452 + physics_material: + static_friction: 0.8497937640561514 + dynamic_friction: 0.6373453230421134 + restitution: 0.0 + water: {} + nav: + navmesh: + enabled: true + visualize: false + bake_timeout_s: 120 + agent_height_cm: 170 + min_agent_radius_cm: 55.0 + max_agent_radius_cm: 55.0 + max_step_height_cm: 20 + max_floor_slope_deg: 30 + agent_island_radius_cm: 5 + auto_exclude_rigid_bodies: true + validate_path_clearance: true + validate_path_window: true + navmesh_offset_z_m: 0 + verbose: true + occupancymap: + cell_size: 0.05 +task: + observation: {} + reward: {} + termination: + timeout_steps: 24000 + success_hold_frames: 1 + mmb: + task_id: N011 + agent_id: a03 + embodiment: stretch3 + level: easy + scene_seed: 2027 + layout: + S: + - -2.915876898625249 + - -1.8695644547263341 + - -2.0071286397934784 + tables: + A: + center: + - -1.0 + - 3.2 + size: + - 1.5 + - 0.6 + top: 0.5800000000000001 + color: + - 0.35 + - 0.37 + - 0.4 + B: + center: + - 2.6 + - 0.4 + size: + - 0.7 + - 1.0 + top: 0.5800000000000001 + color: + - 0.35 + - 0.37 + - 0.4 + stations: + A: + table: A + work_point: + - -1.35 + - 3.12 + arm_dir: + - 0.0 + - 1.0 + reach: 0.9 + fwd: -0.021 + stand: + - -1.371 + - 2.22 + - -3.141592653589793 + B: + table: B + work_point: + - 2.38 + - 0.4 + arm_dir: + - 1.0 + - 0.0 + reach: 0.63 + fwd: -0.021 + stand: + - 1.75 + - 0.42100000000000004 + - 1.5707963267948966 + hold_ticks: 40 + grace_ticks: 400 + water_settle_ticks: 150 + object_settle_ticks: 60 + planning: + avoid: + - dynamic + ignore: + - ladle + - water + water: + max_particles: 9000 + basin: + center: + - -0.55 + - 3.2 + floor_z: 0.5950000000000001 + water_depth: 0.1 + inner: + - 0.12 + - 0.11 + - 0.12 + a2_stand: + - -0.559 + - 2.325 + - -3.141592653589793 + cup: + center: + - 2.390551360561359 + - 0.4039028331132412 + rim_above_table: 0.075 + success: + min_deliver_ml: 20.0 + max_spill_ml: 15.0 + min_carry_frac: 0.5 + max_base_speed_at_pour: 0.05 + tool: + category: ladle + asset: Ladle + plate_z: 0.7400000000000001 + view: + eye: + - 2.9299999999999997 + - -0.15000000000000002 + - 0.9800000000000001 + target: + - 2.33 + - 0.4 + - 0.68 + dr: + seed: 2027 + spawn_dxy: + - 0.084 + - -0.07 + friction_scale: + basin_1: 1.023 + cup_1: 1.062 + ladle_1: 1.0 + rack_a0_1: 0.986 + table_a_1: 0.934 + table_b_1: 1.016 + moved: + ladle_1: + - 0.0053 + - -0.0068 + - 1.08 + cup_1: + - 0.0106 + - 0.0039 + light_scale: 0.971 +collect: + command: + Ladle: + stage_retries: 2 + robot_id: 0 + init_limit: 30 + max_attempt: 1 + completion_timeout_steps: 3600 + pre_back: 0.12 + lift: 0.22 + carry: + lateral: 0.6 + forward: 0.0 + z: 0.95 + dip: + above: 0.12 + clear_bottom: 0.006 + rim_under: 0.012 + tilt_deg: 35.0 + fill_ticks: 60 + dwell_ticks: 90 + rise: 0.2 + pour: + clearance: 0.06 + aim: -0.04 + pre_pitch_deg: 35.0 + pre_pitch_variants: + - 0.0 + - 5.0 + - 10.0 + pitch_deg: + - 55.0 + - 80.0 + lip_drift: 0.03 + reach_margin: 0.015 + hold_ticks: 240 + stop_ticks: 90 + drain: + pitch_deg: 60.0 + aim: 0.0 + hold_ticks: 90 + modes: + pre_grasp: -1 + grasp: 4 + lift: 4 + carry: -1 + pre_dip: -1 + dip: 4 + level: 4 + trim: 4 + rise: 4 + pre_pour: -1 + tilt: -1 + retreat: 4 + global_planner: + NavTo: + use_navmesh: true + use_absolute: true + translation_threshold: 0.15 + rotation_threshold: 3.3 + num_path_segments: 30 + start_forward_offset: 0.0 + visualize_path: false + carry_arm: true + NavToTrim: + use_navmesh: false + carry_arm: true + visualize_path: false + trim_pos_threshold: 0.01 + trim_yaw_threshold: 0.015 + max_steps: 1500 + MobileMoveL: + translation_threshold: 0.008 + rotation_threshold: 0.08 + stall_release_ticks: 80 + stall_release_factor: 2.5 + motiongen_distance_threshold: 0.0 + timeout_steps: 900 + debug: false + debug_viz: false + debug_sphere: false + reactive: false + base_pos_threshold: 0.025 + base_rot_threshold: 0.05 + eef_pos_threshold: 0.03 + eef_rot_threshold: 0.1 + waypoint_max_steps: 30 + interp_steps: 120 + ParallelGripper: + gripper_threshold: 0.001 + atomic_skill: + NavToPose: + robot_id: 0 + position_threshold: 0.15 + angle_threshold: 3.3 + trim: true + Move: + robot_id: 0 + hand_id: 0 + arm_planner: MobileMoveL + hand_planner: ParallelGripper + ramp_steps: 0 + hold_steps: 60 + open_value: 0.0 + close_value: 1.0 + auto_collect: + task_type: ladle + max_trajectories: 1 + record: + output_dir: /mnt/scratch/xc536_atomic/n011_str_on_2027/out + formats: + - lerobot_v21 + - sim_info + clear_buffer_on_failure: true + lerobot: + subsample_every: 2 +visual_dr: + keep: + - Water diff --git a/N011/stretch3/dr_on/seed_2027/ladle/000/completed/0.json b/N011/stretch3/dr_on/seed_2027/ladle/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..7ce6876edc0957a9ea82394c77092d7ccdaaeef6 --- /dev/null +++ b/N011/stretch3/dr_on/seed_2027/ladle/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "ladle/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N011/stretch3/dr_on/seed_2027/ladle/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N011/stretch3/dr_on/seed_2027/ladle/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..f89e78d7d2b57474762d2281406c685be602bd83 --- /dev/null +++ b/N011/stretch3/dr_on/seed_2027/ladle/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:44bcf559c6b975afc93c1b43fbb2e563b43f4737552df84d50e1eb2c57971d23 +size 417746240 diff --git a/N011/stretch3/dr_on/seed_2027/ladle/000/lerobot_v21/meta/episodes.jsonl b/N011/stretch3/dr_on/seed_2027/ladle/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..801a955e5e2b31ce60c6d7b21c01db5aa49c90ec --- /dev/null +++ b/N011/stretch3/dr_on/seed_2027/ladle/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup."], "length": 4263, "magicsim/control_steps": 8526, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the brown rack a0. There are a large gray table a, a large gray table b, a medium ladle, a large brown rack a0, a medium basin and a small cup. The gray table a is to the left of the brown rack a0. The gray table b is to the left of the cup. The ladle is on top of the brown rack a0. The ladle is in front of the brown rack a0. The brown rack a0 is behind the ladle. The basin is on top of the gray table a. The basin is to the left of the gray table a. The cup is on top of the gray table b. The cup is to the right of the gray table b. The scene is lit by a cool light from the back-left. The scene is viewed from back-left, slightly above table height."} diff --git a/N011/stretch3/dr_on/seed_2027/ladle/000/lerobot_v21/meta/episodes_stats.jsonl b/N011/stretch3/dr_on/seed_2027/ladle/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..62de492af84c1a5e039c198dacb85c8a2d1c6ebd --- /dev/null +++ b/N011/stretch3/dr_on/seed_2027/ladle/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [-0.009148022702659379, -4.0139690121937715e-05, 0.02093448527742797, -0.2416494450860255, 1.7186096750991517, 0.8641800108214317, 0.1393376419396292, 0.12844098940467208, 0.30336639257123876, 0.34526220055958096, 0.7056063804832278], "std": [0.09669660002649781, 0.0010327911250140333, 0.18564306331180752, 1.5755347527239945, 1.2677638087948198, 0.10591137917537502, 0.5145013027978537, 0.4885092598720367, 0.38966227143968446, 0.31250783100152313, 0.45576969656238486], "min": 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The scene is viewed from back-left, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [robot]\n\n\n\n\n\n[[cup] b]\n [ladle]\n [r[basin]" + }, + "task": { + "task_type": "Ladle", + "instruction": "Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.", + "template_id": -1, + "slots": { + "obj": -3.141592653589793, + "support": null + }, + "generic_instruction": "Ladle the -3.141592653589793.", + "task_id": "N011", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": {} + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N011/stretch3/dr_on/seed_2027/ladle/000/lerobot_v21/meta/info.json b/N011/stretch3/dr_on/seed_2027/ladle/000/lerobot_v21/meta/info.json new file mode 100644 index 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0.0, + 0.0 + ], + "cav_wl": 47 + } + ] + }, + "planner_seeds": "lean", + "cameras": true, + "code_rev": "?", + "snapshot": "/mnt/scratch/xc536_atomic/n011_str_on_2027/out/snap/episode_01_end.png", + "snapshot_close": "/mnt/scratch/xc536_atomic/n011_str_on_2027/out/snap_close/episode_01_end.png" + } + ], + "success": true, + "config_dumped": "/mnt/scratch/xc536_atomic/n011_str_on_2027/out/config.yaml", + "collect": { + "task": "N011", + "robot": "stretch3", + "visual_dr": true, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N011", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "1" + }, + "cameras": { + "head": { + "link": "Robot_0/base_link", + "pos": [ + 0.049771, + -0.002942, + 1.295723 + ], + "ori": [ + 0.0002, + -55.623, + -90.0 + ], + "focal_length": 2.73834228515625, + "horizontal_aperture": 2.1600000858306885, + "vertical_aperture": 1.62 + }, + "wrist": { + "link": "Robot_0/link_gripper_s3_body", + "pos": [ + 0.009, + 0.062939, + 0.056398 + ], + "ori": [ + -170.0021, + 0.0, + -179.9998 + ], + "focal_length": 1.280753493309021, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.44 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/HelloRobot/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/joint_effort:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_pos:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_vel:(1, 15):torch.float32" + ], + "review_cameras": [], + "elapsed_s": 2140.9, + "full_successes": 1 +} diff --git a/N011/stretch3/dr_on/seed_2027/snap/episode_01_end.png b/N011/stretch3/dr_on/seed_2027/snap/episode_01_end.png new file mode 100644 index 0000000000000000000000000000000000000000..89e296f1d919eae9ca1f53428fc938de0e408ff2 --- /dev/null +++ b/N011/stretch3/dr_on/seed_2027/snap/episode_01_end.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:87a602659e0fe29913993d7d926b9abffa2618e0c4f74a5440d782459283eef9 +size 478803 diff --git a/N011/stretch3/dr_on/seed_2027/snap_close/episode_01_end.png b/N011/stretch3/dr_on/seed_2027/snap_close/episode_01_end.png new file mode 100644 index 0000000000000000000000000000000000000000..867ab22aeb2df2efe121213d95202a20b4d30f0b --- /dev/null +++ b/N011/stretch3/dr_on/seed_2027/snap_close/episode_01_end.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0999f81f734daab3e4d1a05a1208deee8e3209a7be468e08c224bbed48b5505d +size 583520 diff --git a/N015/go2_arm/dr_off/seed_1018/check.json b/N015/go2_arm/dr_off/seed_1018/check.json new file mode 100644 index 0000000000000000000000000000000000000000..8f8b9795228a186121088fd0c9245caf7053d07d --- /dev/null +++ b/N015/go2_arm/dr_off/seed_1018/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the rack, pick up the tray with the water in it, carry it to the work table, set it on the holder, and tilt it so the water flows around the barrier into the collecting pocket.'; expected 'Go to the rack, pick up the tray with the water in it, carry it to the work table, set it on the holder, and tilt it so the water flows around the barrier into the collecting pocket.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2602 rows vs ceil(5203/2) = 2602" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 251..5453, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "59.24 MB, 2602 frames at 25 fps, mean luma 109..138, std 15, new picture 2601x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2602 vs 2602" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "51.96 MB, 2602 frames at 25 fps, mean luma 92..135, std 48, new picture 2601x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2602 vs 2602" + }, + "sim_info present": { + "pass": true, + "detail": "tiltmaze/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N015/go2_arm/dr_off/seed_1018/check.txt b/N015/go2_arm/dr_off/seed_1018/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..664f80081cf4519c3f3af281ca21cdeb0ab1b639 --- /dev/null +++ b/N015/go2_arm/dr_off/seed_1018/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n015_go2_off_1018_r1/out task=N015 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n015_go2_off_1018_r1/out/tiltmaze/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2602 videos 2 robot_type Go2PlusCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 2602 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the rack, pick up the tray with the water in it, carry it to the work table, set it on the holder, and tilt it so the water flows around the barrier into the collecting pocket.'; expected 'Go to the rack, pick up the tray with the water in it, carry it to the work table, set it on the holder, and tilt it so the water flows around the barrier into the collecting pocket.' +rows 2602 at dataset fps 25 = 104.08 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2602 rows vs ceil(5203/2) = 2602 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 251..5453, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 59.24 MB, 2602 frames at 25 fps, mean luma 109..138, std 15, new picture 2601x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2602 vs 2602 +[PASS] video observation.images.wrist decodes, 640x480, not black: 51.96 MB, 2602 frames at 25 fps, mean luma 92..135, std 48, new picture 2601x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2602 vs 2602 +parquet size 27.95 MB +[PASS] sim_info present: tiltmaze/000/sim_info +dataset size 139.97 MB; whole cell dir 177.7 MB +RESULT: ALL PASS diff --git a/N015/go2_arm/dr_off/seed_1018/config.yaml b/N015/go2_arm/dr_off/seed_1018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..46e062c284e51096c8d576a713e022ce1273dc8e --- /dev/null +++ b/N015/go2_arm/dr_off/seed_1018/config.yaml @@ -0,0 +1,706 @@ +env_string: TiltMazeEnv-V0 +env: + sim: + device: cpu + use_fabric: false + decimation: 4 + dt: 0.005 + seed: 1018 + soft_resets: 1000000 + scene: + num_envs: 1 + env_spacing: 14 + render: + rendering_mode: performance + enable_reflections: false + enable_global_illumination: false + enable_translucency: false + enable_dl_denoiser: false + robot: + Go2Plus: + name: go2plus + type: mobilemanip + common: + pos: + - - -3.2479727504419293 + - -1.6752308251178287 + - 0.45 + - - -3.2479727504419293 + - -1.6752308251178287 + - 0.45 + ori: + - - 0 + - 0 + - 25.000000000000075 + - - 0 + - 0 + - 25.000000000000075 + initial_joint_pos: null + action: + base_action: unified + arm_action: ik_curobo + eef_action: binary + reset: default + planner: + dual_mode: true + base_joint_names: + - base_x + - base_y + - base_yaw + - base_height + ik: + type: go2plus + enable: true + ik_num_instances: 1 + ik_batch_size: 1 + ik_num_seeds: 64 + ik_position_threshold: 0.005 + ik_rotation_threshold: 0.05 + microbatch_wait_ms: 20.0 + relative_to_world_frame: false + eef_num: 1 + debug: false + seed_use_live_joint_pos: true + motiongen: + type: go2plus + enable: true + batch_size: 1 + debug: false + motiongen_num_instances: 1 + microbatch_wait_ms: 400.0 + mode: position + relative_to_world_frame: false + eef_num: 1 + seed_use_live_joint_pos: true + anchor_ik_seeds_to_current_state: false + num_trajopt_seeds: 1 + num_ik_seeds: 4 + max_attempts: 4 + joint_limit_retry_weight: 100000000.0 + start_state_limit_inset: 0.002 + body: + type: nav + dwb_type: dwb_quadruped + dwb_quadruped: + device: cpu + dt: 0.02 + debug: false + num_rollout_steps: 60 + num_speed_samples: 11 + num_steer_samples: 11 + num_vx_samples: 7 + num_vy_samples: 7 + num_yaw_samples: 7 + max_accel: 0.4 + max_steer_rate: 1.5 + max_accel_vx: 0.4 + max_accel_vy: 0.4 + max_yaw_accel: 0.4444444444444445 + w_goal: 6.0 + w_path: 24.0 + w_vel: 0.2 + w_vy: 0.0 + dilate_radius: 0.2 + goal_cost_mode: path + room_size: 12.0 + occupancy_update_interval: 25 + scan_height: 0.38 + scan_min_z: 0.15 + scan_max_z: 0.63 + goal_pos_threshold: 0.16 + goal_yaw_threshold: 0.08 + goal_yaw_hysteresis: 0.02 + kp_goal_yaw: 4.0 + heading_reference: path + turn_yaw_threshold: 0.8 + heading_lookahead: 0.8 + heading_min_leg: 0.35 + route_yaw_gain: 2.0 + min_vx: -0.2 + max_vx: 0.2 + min_vy: -0.2 + max_vy: 0.2 + min_yaw_rate: -0.22222222222222224 + max_yaw_rate: 0.22222222222222224 + dynamic_window_source: command + default_height: 0.35 + safety_min_progress_speed: 0.1 + safety_stop_distance: 0.2 + safety_enabled: true + safety_deceleration: 0.5 + safety_reaction_time: 0.5 + safety_release_distance: 0.35 + scan_type: 3d + robot_type: quadruped + velocity_frame: body + p_controller: + velocity_frame: body + nav_upgrade_distance: 0.03 + nav_heading_target: -1 + kp_linear_x: 3.0 + kd_linear_x: 0.4 + kp_linear_y: 3.0 + kd_linear_y: 0.4 + kp_angular: 1.5 + kd_angular: 0.2 + kp_angular_turning_only: 1.5 + kd_angular_turning_only: 0.2 + min_vel: -0.4 + max_vel: 0.5 + linear_dead_zone: 0.01 + angular_dead_zone: 0.05 + arm: + type: default + eef: + type: default + physics: + robot_radius: 0.5 + camera: + enable_tiled: false + colorize_depth: false + head: + camera: + type: camera + mesh: pinhole + resolution: + - 640 + - 480 + frequency: 25 + focal_length: 1.8231182098388672 + horizontal_aperture: 1.9199999570846558 + vertical_aperture: 1.4407838582992554 + clipping_range: + - 0.05 + - 30.0 + focus_distance: 3.0 + mode: RGB + mount_link: Robot_0/Bodies/go2_base + pos: + - 0.332051 + - 0.038027 + - 0.093559 + ori: + - 169.9473 + - -88.6452 + - 81.5985 + annotator: + enabled: true + rgb_capture: + type: rgb + device: cpu + wrist: + camera: + type: camera + mesh: pinhole + resolution: + - 640 + - 480 + frequency: 25 + focal_length: 1.8517500162124634 + horizontal_aperture: 1.9199999570846558 + vertical_aperture: 1.4393036365509033 + clipping_range: + - 0.05 + - 30.0 + focus_distance: 3.0 + mode: RGB + mount_link: Robot_0/Bodies/piper_link6 + pos: + - -0.074987 + - 0.005289 + - 0.045821 + ori: + - 179.3135 + - -20.212 + - 88.9402 + annotator: + enabled: true + rgb_capture: + type: rgb + device: cpu + scene: + terrain: + type: nav_room + collision: true + hide_top_walls: true + usd: + - $MAGICSIM_ASSETS/Room/Collected_SimpleRoom + annotation: Annotation + random: false + pos: + - 0.0 + - 0.0 + - 0.0 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 1.0 + - 1.0 + - 1.0 + physics_material: + static_friction: 1.0 + dynamic_friction: 1.0 + restitution: 0.0 + friction_combine_mode: multiply + restitution_combine_mode: multiply + background: + intensity: + - 1000 + - 1000 + light: + light_1: + types: + - Dome + common: + pos: + - 0.0 + - 0.0 + - 0.0 + ori: + - 0.0 + - 0.0 + - 0.0 + color_temperature_range: + - 6500 + - 6500 + color_range: + - - 1.0 + - 1.0 + - 1.0 + - - 1.0 + - 1.0 + - 1.0 + Dome: + intensity_range: + - 926.0822664931595 + - 926.0822664931595 + water: + max_particles: 1600 + particle: + fluid_rest_offset: 0.0018 + ccd: true + look: + mode: spheres + color: + - 0.05 + - 0.45 + - 1.0 + bead_scale: 1.5 + retire: + floor_ttl: 3600.0 + max_age: 7200.0 + radius: 30.0 + below: -2.0 + objects: + table_a: + usd: + - Cube + num_per_env: 1 + random: false + table_a_1: + pos: + - -1.0 + - 3.2 + - 0.30500000000000005 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.9 + - 0.6 + - 0.55 + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - - 0.35 + - 0.37 + - 0.4 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.8262393546894948 + dynamic_friction: 0.6196795160171211 + restitution: 0.0 + table_b: + usd: + - Cube + num_per_env: 1 + random: false + table_b_1: + pos: + - 2.6 + - 0.4 + - 0.30500000000000005 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.7 + - 1.0 + - 0.55 + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - - 0.35 + - 0.37 + - 0.4 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.8544025026068403 + dynamic_friction: 0.6408018769551301 + restitution: 0.0 + tray: + usd: + - $MAGICSIM_ASSETS/Object/MMB/Tray/Object.usda + num_per_env: 1 + random: false + tray_1: + pos: + - -1.0001799383090295 + - 3.1256392664765875 + - 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table: A + work_point: + - -1.0 + - 3.12 + arm_dir: + - 0.0 + - 1.0 + reach: 0.54 + fwd: 0.0 + stand: + - -1.0 + - 2.58 + - 1.5707963267948966 + B: + table: B + work_point: + - 2.34 + - 0.4 + arm_dir: + - 1.0 + - 0.0 + reach: 0.5900000000000001 + fwd: -0.021 + stand: + - 1.7499999999999998 + - 0.42100000000000004 + - 0.0 + hold_ticks: 40 + grace_ticks: 300 + water_settle_ticks: 160 + object_settle_ticks: 60 + planning: + avoid: + - dynamic + ignore: + - tray + - water + water: + max_particles: 1600 + fluid_rest_offset: 0.0018 + cradle: + center: + - 2.449 + - 0.4 + top_z: 0.6500000000000001 + far_edge_x: 2.549 + size: + - 0.2 + - 0.12 + - 0.07 + start: + ml: 24.0 + blob_shift_x: 0.0 + success: + min_pocket_ml: 14.0 + max_start_ml: 7.0 + min_start_at_cradle_frac: 0.8 + max_spill_ml: 3.0 + min_carry_frac: 0.9 + max_over_top_ticks: 6 + max_end_tilt_deg: 4.0 + tool: + category: tray + asset: Tray + plate_z: 0.7200000000000001 + view: + eye: + - 2.999 + - -0.09999999999999998 + - 1.0 + target: + - 2.449 + - 0.4 + - 0.6800000000000002 + dr: + seed: 1018 + spawn_dxy: + - -0.248 + - 0.125 + friction_scale: + cradle_1: 1.052 + rack_a0_1: 0.953 + table_a_1: 1.033 + table_b_1: 1.068 + tray_1: 0.972 + moved: + tray_1: + - -0.0002 + - 0.0056 + - -2.79 + light_scale: 1.029 +collect: + command: + TiltMaze: + stage_retries: 2 + robot_id: 0 + init_limit: 30 + max_attempt: 1 + completion_timeout_steps: 4000 + pre_back: 0.12 + lift: 0.08 + lift_slip_deg: 12.0 + carry: + lateral: 0.55 + forward: 0.0 + z: 0.88 + pitch_up_deg: 0.0 + place: + above: 0.06 + contact_gap: 0.002 + pre_pitch_up_deg: 5.0 + tilt: + deg: + - 5.0 + - 9.0 + - 13.0 + hold_ticks: 300 + back_deg: + - 8.0 + - 4.0 + - 0.0 + modes: + pre_grasp: -1 + grasp: 4 + lift: 4 + carry: -1 + trim: 4 + pre_place: -1 + place: 4 + tilt: 4 + release: 4 + retreat: 4 + global_planner: + NavTo: + use_navmesh: true + use_absolute: true + translation_threshold: 0.2 + rotation_threshold: 0.3 + num_path_segments: 30 + start_forward_offset: -0.25 + visualize_path: false + carry_arm: true + NavToTrim: + use_navmesh: false + carry_arm: true + visualize_path: false + trim_pos_threshold: 0.01 + trim_yaw_threshold: 0.015 + max_steps: 1500 + MobileMoveL: + translation_threshold: 0.006 + rotation_threshold: 0.2 + stall_release_ticks: 100 + stall_release_factor: 5.0 + motiongen_distance_threshold: 0.05 + timeout_steps: 3000 + timeout_done_tolerance: 0.06 + debug: false + debug_viz: false + debug_sphere: false + reactive: false + base_pos_threshold: 0.12 + base_rot_threshold: 0.5 + eef_pos_threshold: 0.03 + eef_rot_threshold: 0.3 + waypoint_max_steps: 8 + interp_steps: 60 + interp_validate_target: true + ParallelGripper: + gripper_threshold: 0.0005 + timeout_steps: 60 + atomic_skill: + NavToPose: + robot_id: 0 + position_threshold: 0.2 + angle_threshold: 0.3 + trim: false + Move: + robot_id: 0 + hand_id: 0 + arm_planner: MobileMoveL + hand_planner: ParallelGripper + ramp_steps: 0 + hold_steps: 60 + open_value: 0.0 + close_value: 1.0 + auto_collect: + task_type: tiltmaze + max_trajectories: 1 + record: + output_dir: /mnt/scratch/xc536_atomic/n015_go2_off_1018_r1/out + formats: + - lerobot_v21 + - sim_info + clear_buffer_on_failure: true + lerobot: + subsample_every: 2 +visual_dr: + keep: + - Water diff --git a/N015/go2_arm/dr_off/seed_1018/report.json b/N015/go2_arm/dr_off/seed_1018/report.json new file mode 100644 index 0000000000000000000000000000000000000000..a9b26273780addc971e93bf4a4d3672675d9662a --- /dev/null +++ b/N015/go2_arm/dr_off/seed_1018/report.json @@ -0,0 +1,7804 @@ +{ + "task": "N015", + "level": "easy", + "seed": 1018, + "episodes": [ + { + "task_id": "N015", + "task_version": "EXT60-MobileAvatar-v3", + "agent_id": "a03", + "family_id": "liquid_tilt_maze", + "primary_category": "C5", + "level": "easy", + "embodiment": "stretch3", + "scene_seed": 1018, + "execution_mode": "scripted_expert_chain: Task env -> Command -> AtomicSkill -> GlobalPlanner -> cuRobo; base 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There are a large gray table a, a large gray table b, a small tray, a large brown rack a0 and a small cradle. The gray table a is to the right of the brown rack a0. The gray table b is to the right of the cradle. The tray is on top of the brown rack a0. The tray is to the right of the brown rack a0. The brown rack a0 is to the left of the tray. The cradle is on top of the gray table b. The cradle is to the left of the gray table b. The scene is lit by a cool light from the front. 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"go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 12, + "nan_policy": "from_raw", + "segments": [ + { + "name": "Go2Plus.base_action", + "start": 0, + "end": 4, + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3" + ], + "source": "Go2UnifiedLocomotionAction", + "names_source": "fallback" + }, + { + "name": "Go2Plus.arm_action", + "start": 4, + "end": 11, + "names": [ + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z" + ], + 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"joint_vel_layout": { + "dim": 20, + "segments": [ + { + "name": "Go2Plus.joint_vel", + "start": 0, + "end": 20, + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726 + ], + "quat": [ + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587 + ], + "quat": [ + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + } + }, + "generated_run": { + "run_id": "tiltmaze/000", + "task_type": "TiltMaze" + } +} \ No newline at end of file diff --git a/N015/go2_arm/dr_off/seed_1021/check.json b/N015/go2_arm/dr_off/seed_1021/check.json new file mode 100644 index 0000000000000000000000000000000000000000..6cec3febc5758c4e5ae3d72be588af56b263497d --- /dev/null +++ b/N015/go2_arm/dr_off/seed_1021/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the rack, pick up the tray with the water in it, carry it to the work table, set it on the holder, and tilt it so the water flows around the barrier into the collecting pocket.'; expected 'Go to the rack, pick up the tray with the water in it, carry it to the work table, set it on the holder, and tilt it so the water flows around the barrier into the collecting pocket.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2606 rows vs ceil(5211/2) = 2606" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 251..5461, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "61.61 MB, 2606 frames at 25 fps, mean luma 107..138, std 14, new picture 2605x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2606 vs 2606" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "53.94 MB, 2606 frames at 25 fps, mean luma 92..139, std 49, new picture 2605x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2606 vs 2606" + }, + "sim_info present": { + "pass": true, + "detail": "tiltmaze/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N015/go2_arm/dr_off/seed_1021/check.txt b/N015/go2_arm/dr_off/seed_1021/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..2f51934b5f4abd7431bc5d4c8ea9a7f9d5ed8b79 --- /dev/null +++ b/N015/go2_arm/dr_off/seed_1021/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n015_go2_off_1021_r1/out task=N015 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n015_go2_off_1021_r1/out/tiltmaze/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2606 videos 2 robot_type Go2PlusCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 2606 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the rack, pick up the tray with the water in it, carry it to the work table, set it on the holder, and tilt it so the water flows around the barrier into the collecting pocket.'; expected 'Go to the rack, pick up the tray with the water in it, carry it to the work table, set it on the holder, and tilt it so the water flows around the barrier into the collecting pocket.' +rows 2606 at dataset fps 25 = 104.24 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2606 rows vs ceil(5211/2) = 2606 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 251..5461, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 61.61 MB, 2606 frames at 25 fps, mean luma 107..138, std 14, new picture 2605x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2606 vs 2606 +[PASS] video observation.images.wrist decodes, 640x480, not black: 53.94 MB, 2606 frames at 25 fps, mean luma 92..139, std 49, new picture 2605x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2606 vs 2606 +parquet size 28.00 MB +[PASS] sim_info present: tiltmaze/000/sim_info +dataset size 144.38 MB; whole cell dir 181.6 MB +RESULT: ALL PASS diff --git a/N015/go2_arm/dr_off/seed_1021/config.yaml b/N015/go2_arm/dr_off/seed_1021/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2cc358d7b0d4cfb1abb840c3f484f35b9b9ed7dc --- /dev/null +++ b/N015/go2_arm/dr_off/seed_1021/config.yaml @@ -0,0 +1,706 @@ +env_string: TiltMazeEnv-V0 +env: + sim: + device: cpu + use_fabric: false + decimation: 4 + dt: 0.005 + seed: 1021 + soft_resets: 1000000 + scene: + num_envs: 1 + env_spacing: 14 + render: + rendering_mode: performance + enable_reflections: false + enable_global_illumination: false + enable_translucency: false + enable_dl_denoiser: false + robot: + Go2Plus: + name: go2plus + type: mobilemanip + common: + pos: + - - -3.099761593754026 + - -2.0145585213040853 + - 0.45 + - - -3.099761593754026 + - -2.0145585213040853 + - 0.45 + ori: + - - 0 + - 0 + - 25.000000000000075 + - - 0 + - 0 + - 25.000000000000075 + initial_joint_pos: null + action: + base_action: unified + arm_action: ik_curobo + eef_action: binary + reset: default + planner: + dual_mode: true + base_joint_names: + - base_x + - base_y + - base_yaw + - base_height + ik: + type: go2plus + enable: true + ik_num_instances: 1 + ik_batch_size: 1 + ik_num_seeds: 64 + ik_position_threshold: 0.005 + ik_rotation_threshold: 0.05 + microbatch_wait_ms: 20.0 + relative_to_world_frame: false + eef_num: 1 + debug: false + seed_use_live_joint_pos: true + motiongen: + type: go2plus + enable: true + batch_size: 1 + debug: false + motiongen_num_instances: 1 + microbatch_wait_ms: 400.0 + mode: position + relative_to_world_frame: false + eef_num: 1 + seed_use_live_joint_pos: true + anchor_ik_seeds_to_current_state: false + num_trajopt_seeds: 1 + num_ik_seeds: 4 + max_attempts: 4 + joint_limit_retry_weight: 100000000.0 + start_state_limit_inset: 0.002 + body: + type: nav + dwb_type: dwb_quadruped + dwb_quadruped: + device: cpu + dt: 0.02 + debug: false + num_rollout_steps: 60 + num_speed_samples: 11 + num_steer_samples: 11 + num_vx_samples: 7 + num_vy_samples: 7 + num_yaw_samples: 7 + max_accel: 0.4 + max_steer_rate: 1.5 + max_accel_vx: 0.4 + max_accel_vy: 0.4 + max_yaw_accel: 0.4444444444444445 + w_goal: 6.0 + w_path: 24.0 + w_vel: 0.2 + w_vy: 0.0 + dilate_radius: 0.2 + goal_cost_mode: path + room_size: 12.0 + occupancy_update_interval: 25 + scan_height: 0.38 + scan_min_z: 0.15 + scan_max_z: 0.63 + goal_pos_threshold: 0.16 + goal_yaw_threshold: 0.08 + goal_yaw_hysteresis: 0.02 + kp_goal_yaw: 4.0 + heading_reference: path + turn_yaw_threshold: 0.8 + heading_lookahead: 0.8 + heading_min_leg: 0.35 + route_yaw_gain: 2.0 + min_vx: -0.2 + max_vx: 0.2 + min_vy: -0.2 + max_vy: 0.2 + min_yaw_rate: -0.22222222222222224 + max_yaw_rate: 0.22222222222222224 + dynamic_window_source: command + default_height: 0.35 + safety_min_progress_speed: 0.1 + safety_stop_distance: 0.2 + safety_enabled: true + safety_deceleration: 0.5 + safety_reaction_time: 0.5 + safety_release_distance: 0.35 + scan_type: 3d + robot_type: quadruped + velocity_frame: body + p_controller: + velocity_frame: body + nav_upgrade_distance: 0.03 + nav_heading_target: -1 + kp_linear_x: 3.0 + kd_linear_x: 0.4 + kp_linear_y: 3.0 + kd_linear_y: 0.4 + kp_angular: 1.5 + kd_angular: 0.2 + kp_angular_turning_only: 1.5 + kd_angular_turning_only: 0.2 + min_vel: -0.4 + max_vel: 0.5 + linear_dead_zone: 0.01 + angular_dead_zone: 0.05 + arm: + type: default + eef: + type: default + physics: + robot_radius: 0.5 + camera: + enable_tiled: false + colorize_depth: false + head: + camera: + type: camera + mesh: pinhole + resolution: + - 640 + - 480 + frequency: 25 + focal_length: 1.8231182098388672 + horizontal_aperture: 1.9199999570846558 + vertical_aperture: 1.4407838582992554 + clipping_range: + - 0.05 + - 30.0 + focus_distance: 3.0 + mode: RGB + mount_link: Robot_0/Bodies/go2_base + pos: + - 0.332051 + - 0.038027 + - 0.093559 + ori: + - 169.9473 + - -88.6452 + - 81.5985 + annotator: + enabled: true + rgb_capture: + type: rgb + device: cpu + wrist: + camera: + type: camera + mesh: pinhole + resolution: + - 640 + - 480 + frequency: 25 + focal_length: 1.8517500162124634 + horizontal_aperture: 1.9199999570846558 + vertical_aperture: 1.4393036365509033 + clipping_range: + - 0.05 + - 30.0 + focus_distance: 3.0 + mode: RGB + mount_link: Robot_0/Bodies/piper_link6 + pos: + - -0.074987 + - 0.005289 + - 0.045821 + ori: + - 179.3135 + - -20.212 + - 88.9402 + annotator: + enabled: true + rgb_capture: + type: rgb + device: cpu + scene: + terrain: + type: nav_room + collision: true + hide_top_walls: true + usd: + - $MAGICSIM_ASSETS/Room/Collected_SimpleRoom + annotation: Annotation + random: false + pos: + - 0.0 + - 0.0 + - 0.0 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 1.0 + - 1.0 + - 1.0 + physics_material: + static_friction: 1.0 + dynamic_friction: 1.0 + restitution: 0.0 + friction_combine_mode: multiply + restitution_combine_mode: multiply + background: + intensity: + - 1000 + - 1000 + light: + light_1: + types: + - Dome + common: + pos: + - 0.0 + - 0.0 + - 0.0 + ori: + - 0.0 + - 0.0 + - 0.0 + color_temperature_range: + - 6500 + - 6500 + color_range: + - - 1.0 + - 1.0 + - 1.0 + - - 1.0 + - 1.0 + - 1.0 + Dome: + intensity_range: + - 957.9495094143505 + - 957.9495094143505 + water: + max_particles: 1600 + particle: + fluid_rest_offset: 0.0018 + ccd: true + look: + mode: spheres + color: + - 0.05 + - 0.45 + - 1.0 + bead_scale: 1.5 + retire: + floor_ttl: 3600.0 + max_age: 7200.0 + radius: 30.0 + below: -2.0 + objects: + table_a: + usd: + - Cube + num_per_env: 1 + random: false + table_a_1: + pos: + - -1.0 + - 3.2 + - 0.30500000000000005 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.9 + - 0.6 + - 0.55 + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - - 0.35 + - 0.37 + - 0.4 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.769974798642814 + dynamic_friction: 0.5774810989821105 + restitution: 0.0 + table_b: + usd: + - Cube + num_per_env: 1 + random: false + table_b_1: + pos: + - 2.6 + - 0.4 + - 0.30500000000000005 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.7 + - 1.0 + - 0.55 + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - - 0.35 + - 0.37 + - 0.4 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.8454556320416571 + dynamic_friction: 0.6340917240312427 + restitution: 0.0 + tray: + usd: + - $MAGICSIM_ASSETS/Object/MMB/Tray/Object.usda + num_per_env: 1 + random: false + tray_1: + pos: + - -0.997791176099357 + - 3.131631497252575 + - 0.7210000000000001 + ori: + - 0.0 + - 0.0 + - 90.09705792254832 + physics: + type: rigid + mass: 0.07496834174213955 + physics_material: + static_friction: 1.6148821425997082 + dynamic_friction: 1.4130218747747445 + restitution: 0.0 + water: {} + rack_a0: + usd: + - Cube + num_per_env: 1 + random: false + rack_a0_1: + pos: + - -1.0 + - 3.2835 + - 0.6240000000000001 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.1 + - 0.173 + - 0.08799999999999997 + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - - 0.45 + - 0.3 + - 0.18 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.819490902308778 + dynamic_friction: 0.6146181767315835 + restitution: 0.0 + cradle: + usd: + - $MAGICSIM_ASSETS/Object/MMB/Cradle/Object.usda + num_per_env: 1 + random: false + cradle_1: + pos: + - 2.449 + - 0.4 + - 0.5800000000000001 + ori: + - 0.0 + - 0.0 + - 0.0 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.8219275101330006 + dynamic_friction: 0.6164456325997504 + restitution: 0.0 + nav: + navmesh: + enabled: true + visualize: false + bake_timeout_s: 120 + agent_height_cm: 65 + min_agent_radius_cm: 30.0 + max_agent_radius_cm: 30.0 + max_step_height_cm: 20 + max_floor_slope_deg: 30 + agent_island_radius_cm: 5 + auto_exclude_rigid_bodies: true + validate_path_clearance: true + validate_path_window: true + navmesh_offset_z_m: 0 + verbose: true + occupancymap: + cell_size: 0.05 +task: + observation: {} + reward: {} + termination: + timeout_steps: 24000 + success_hold_frames: 1 + mmb: + task_id: N015 + agent_id: a03 + embodiment: stretch3 + level: easy + scene_seed: 1021 + layout: + S: + - -3.099761593754026 + - -2.0145585213040853 + - 0.43633231299858366 + tables: + A: + center: + - -1.0 + - 3.2 + size: + - 0.9 + - 0.6 + top: 0.5800000000000001 + color: + - 0.35 + - 0.37 + - 0.4 + B: + center: + - 2.6 + - 0.4 + size: + - 0.7 + - 1.0 + top: 0.5800000000000001 + color: + - 0.35 + - 0.37 + - 0.4 + stations: + A: + table: A + work_point: + - -1.0 + - 3.12 + arm_dir: + - 0.0 + - 1.0 + reach: 0.54 + fwd: 0.0 + stand: + - -1.0 + - 2.58 + - 1.5707963267948966 + B: + table: B + work_point: + - 2.34 + - 0.4 + arm_dir: + - 1.0 + - 0.0 + reach: 0.5900000000000001 + fwd: -0.021 + stand: + - 1.7499999999999998 + - 0.42100000000000004 + - 0.0 + hold_ticks: 40 + grace_ticks: 300 + water_settle_ticks: 160 + object_settle_ticks: 60 + planning: + avoid: + - dynamic + ignore: + - tray + - water + water: + max_particles: 1600 + fluid_rest_offset: 0.0018 + cradle: + center: + - 2.449 + - 0.4 + top_z: 0.6500000000000001 + far_edge_x: 2.549 + size: + - 0.2 + - 0.12 + - 0.07 + start: + ml: 24.0 + blob_shift_x: 0.0 + success: + min_pocket_ml: 14.0 + max_start_ml: 7.0 + min_start_at_cradle_frac: 0.8 + max_spill_ml: 3.0 + min_carry_frac: 0.9 + max_over_top_ticks: 6 + max_end_tilt_deg: 4.0 + tool: + category: tray + asset: Tray + plate_z: 0.7200000000000001 + view: + eye: + - 2.999 + - -0.09999999999999998 + - 1.0 + target: + - 2.449 + - 0.4 + - 0.6800000000000002 + dr: + seed: 1021 + spawn_dxy: + - -0.1 + - -0.215 + friction_scale: + cradle_1: 1.027 + rack_a0_1: 1.024 + table_a_1: 0.962 + table_b_1: 1.057 + tray_1: 1.009 + moved: + tray_1: + - 0.0022 + - 0.0116 + - 0.1 + light_scale: 1.064 +collect: + command: + TiltMaze: + stage_retries: 2 + robot_id: 0 + init_limit: 30 + max_attempt: 1 + completion_timeout_steps: 4000 + pre_back: 0.12 + lift: 0.08 + lift_slip_deg: 12.0 + carry: + lateral: 0.55 + forward: 0.0 + z: 0.88 + pitch_up_deg: 0.0 + place: + above: 0.06 + contact_gap: 0.002 + pre_pitch_up_deg: 5.0 + tilt: + deg: + - 5.0 + - 9.0 + - 13.0 + hold_ticks: 300 + back_deg: + - 8.0 + - 4.0 + - 0.0 + modes: + pre_grasp: -1 + grasp: 4 + lift: 4 + carry: -1 + trim: 4 + pre_place: -1 + place: 4 + tilt: 4 + release: 4 + retreat: 4 + global_planner: + NavTo: + use_navmesh: true + use_absolute: true + translation_threshold: 0.2 + rotation_threshold: 0.3 + num_path_segments: 30 + start_forward_offset: -0.25 + visualize_path: false + carry_arm: true + NavToTrim: + use_navmesh: false + carry_arm: true + visualize_path: false + trim_pos_threshold: 0.01 + trim_yaw_threshold: 0.015 + max_steps: 1500 + MobileMoveL: + translation_threshold: 0.006 + rotation_threshold: 0.2 + stall_release_ticks: 100 + stall_release_factor: 5.0 + motiongen_distance_threshold: 0.05 + timeout_steps: 3000 + timeout_done_tolerance: 0.06 + debug: false + debug_viz: false + debug_sphere: false + reactive: false + base_pos_threshold: 0.12 + base_rot_threshold: 0.5 + eef_pos_threshold: 0.03 + eef_rot_threshold: 0.3 + waypoint_max_steps: 8 + interp_steps: 60 + interp_validate_target: true + ParallelGripper: + gripper_threshold: 0.0005 + timeout_steps: 60 + atomic_skill: + NavToPose: + robot_id: 0 + position_threshold: 0.2 + angle_threshold: 0.3 + trim: false + Move: + robot_id: 0 + hand_id: 0 + arm_planner: MobileMoveL + hand_planner: ParallelGripper + ramp_steps: 0 + hold_steps: 60 + open_value: 0.0 + close_value: 1.0 + auto_collect: + task_type: tiltmaze + max_trajectories: 1 + record: + output_dir: 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There are a large gray table a, a large gray table b, a small tray, a large brown rack a0 and a small cradle. The gray table a is to the right of the brown rack a0. The gray table b is to the right of the cradle. The tray is on top of the brown rack a0. The tray is to the right of the brown rack a0. The brown rack a0 is to the left of the tray. The cradle is on top of the gray table b. The cradle is to the left of the gray table b. The scene is lit by a cool light from the front. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [[cradle]\n\n\n[rack a0]]\n\n\n\n\n [robot]" + }, + "task": { + "task_type": "TiltMaze", + "instruction": "Go to the rack, pick up the tray with the water in it, carry it to the work table, set it on the holder, and tilt it so the water flows around the barrier into the collecting pocket.", + "template_id": -1, + "slots": { + "obj": 1.5707963267948966, + "support": null + }, + "generic_instruction": "Tiltmaze the 1.5707963267948966.", + "task_id": "N015", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": {} + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N015/go2_arm/dr_off/seed_1021/tiltmaze/000/lerobot_v21/meta/info.json b/N015/go2_arm/dr_off/seed_1021/tiltmaze/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..9ee75fbb081f070f24e26810df22f2f56dbd602a --- /dev/null +++ b/N015/go2_arm/dr_off/seed_1021/tiltmaze/000/lerobot_v21/meta/info.json @@ -0,0 +1,2506 @@ +{ + "codebase_version": "v2.1", + "robot_type": "Go2PlusCfg", + "total_episodes": 1, + "total_frames": 2606, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 12 + ], + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3", + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 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+ ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726 + ], + "quat": [ + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587 + ], + "quat": [ + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + } + }, + "generated_run": { + "run_id": "tiltmaze/000", + "task_type": "TiltMaze" + } +} \ No newline at end of file diff --git a/N015/stretch3/dr_off/seed_1022/check.json b/N015/stretch3/dr_off/seed_1022/check.json new file mode 100644 index 0000000000000000000000000000000000000000..09342e7284fb069332f95506fe770d9b1ffdfeb8 --- /dev/null +++ b/N015/stretch3/dr_off/seed_1022/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the rack, pick up the tray with the water in it, carry it to the work table, set it on the holder, and tilt it so the water flows around the barrier into the collecting pocket.'; expected 'Go to the rack, pick up the tray with the water in it, carry it to the work table, set it on the holder, and tilt it so the water flows around the barrier into the collecting pocket.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "3447 rows vs ceil(6894/2) = 3447" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 251..7143, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "92.53 MB, 3447 frames at 25 fps, mean luma 98..144, std 13, new picture 3446x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "3447 vs 3447" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "79.99 MB, 3447 frames at 25 fps, mean luma 105..147, std 35, new picture 3446x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "3447 vs 3447" + }, + "sim_info present": { + "pass": true, + "detail": "tiltmaze/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N015/stretch3/dr_off/seed_1022/check.txt b/N015/stretch3/dr_off/seed_1022/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..6485041bb04c9b7d6de63dfa6f59f578f21da739 --- /dev/null +++ b/N015/stretch3/dr_off/seed_1022/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n015_str_off_1022/out task=N015 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n015_str_off_1022/out/tiltmaze/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 3447 videos 2 robot_type HelloRobotCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 3447 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the rack, pick up the tray with the water in it, carry it to the work table, set it on the holder, and tilt it so the water flows around the barrier into the collecting pocket.'; expected 'Go to the rack, pick up the tray with the water in it, carry it to the work table, set it on the holder, and tilt it so the water flows around the barrier into the collecting pocket.' +rows 3447 at dataset fps 25 = 137.88 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3447 rows vs ceil(6894/2) = 3447 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 251..7143, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 92.53 MB, 3447 frames at 25 fps, mean luma 98..144, std 13, new picture 3446x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 3447 vs 3447 +[PASS] video observation.images.wrist decodes, 640x480, not black: 79.99 MB, 3447 frames at 25 fps, mean luma 105..147, std 35, new picture 3446x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 3447 vs 3447 +parquet size 32.20 MB +[PASS] sim_info present: tiltmaze/000/sim_info +dataset size 205.43 MB; whole cell dir 253.0 MB +RESULT: ALL PASS diff --git a/N015/stretch3/dr_off/seed_1022/config.yaml b/N015/stretch3/dr_off/seed_1022/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dbede616d8829be7fa67acc2f9dfe2fff4f2e769 --- /dev/null +++ b/N015/stretch3/dr_off/seed_1022/config.yaml @@ -0,0 +1,685 @@ +env_string: TiltMazeEnv-V0 +env: + sim: + device: cpu + use_fabric: false + decimation: 4 + dt: 0.005 + seed: 1022 + soft_resets: 1000000 + scene: + num_envs: 1 + env_spacing: 14 + render: + rendering_mode: performance + enable_reflections: false + enable_global_illumination: false + enable_translucency: false + enable_dl_denoiser: false + robot: + HelloRobot: + name: hellorobot + type: mobilemanip + common: + pos: + - - -2.9013118995463456 + - -1.9175129951067469 + - 0.06 + - - -2.9013118995463456 + - -1.9175129951067469 + - 0.06 + ori: + - - 0 + - 0 + - -120.00000000000001 + - - 0 + - 0 + - -120.00000000000001 + initial_joint_pos: + joint_lift: 0.55 + joint_arm_l[0-3]: 0.025 + joint_wrist_yaw: 0.0 + joint_wrist_roll: 1.5707963267948966 + action: + base_action: differential_virtual + arm_action: ik_abs + eef_action: binary + planner: + dual_mode: true + base_joint_names: + - dummy_base_prismatic_x_joint + - dummy_base_prismatic_y_joint + - dummy_base_revolute_z_joint + obstacle_ignore_categories: [] + ik: + type: hellorobot + enable: true + ik_num_instances: 1 + ik_batch_size: 1 + ik_num_seeds: 32 + ik_max_goalset: 1 + ik_position_threshold: 0.003 + ik_rotation_threshold: 0.02 + microbatch_wait_ms: 1.0 + seed_use_live_joint_pos: true + motiongen: + type: hellorobot + enable: true + motiongen_num_instances: 1 + batch_size: 1 + microbatch_wait_ms: 1.0 + seed_use_live_joint_pos: true + mode: position + num_trajopt_seeds: 1 + num_ik_seeds: 4 + body: + type: nav + dwb_type: dwb_differential + dwb_differential: + device: cpu + dt: 0.02 + debug: false + num_rollout_steps: 60 + num_speed_samples: 11 + num_steer_samples: 11 + num_vx_samples: 7 + num_vy_samples: 7 + num_yaw_samples: 7 + max_accel: 0.4 + max_steer_rate: 1.5 + max_accel_vx: 0.4 + max_accel_vy: 0.4 + max_yaw_accel: 1.5 + w_goal: 6.0 + w_path: 8.0 + w_vel: 0.2 + w_vy: 0.0 + dilate_radius: 0.4 + room_size: 12.0 + occupancy_update_interval: 50 + scan_height: 0.45 + scan_min_z: 0.22 + scan_max_z: 1.75 + goal_pos_threshold: 0.07 + goal_yaw_threshold: 0.15 + kp_goal_yaw: 1.5 + min_speed: -0.2 + max_speed: 0.2 + w_heading: 0.5 + min_yaw_rate: -0.8 + max_yaw_rate: 0.8 + safety_enabled: true + safety_deceleration: 0.5 + safety_reaction_time: 0.5 + goal_heading_fade_distance: 0.5 + scan_type: 3d + own_body_clear: true + own_body_radius: 0.15 + p_controller: + kp_angular_turning_only: 2.0 + kd_angular_turning_only: 0.2 + kp_linear_x: 2.0 + kp_linear_y: 2.0 + kp_angular: 2.0 + kd_linear_x: 0.1 + kd_linear_y: 0.1 + min_vel: -0.25 + max_vel: 0.35 + linear_dead_zone: 0.003 + angular_dead_zone: 0.008 + nav_heading_target: 1 + velocity_frame: world + arm: + type: default + eef: + type: default + physics: + robot_radius: 0.4 + wheel_base: 0.5 + reset: default + camera: + enable_tiled: false + colorize_depth: false + head: + camera: + type: camera + mesh: pinhole + resolution: + - 640 + - 480 + frequency: 25 + focal_length: 2.73834228515625 + horizontal_aperture: 2.1600000858306885 + vertical_aperture: 1.62 + clipping_range: + - 0.05 + - 30.0 + focus_distance: 3.0 + mode: RGB + mount_link: Robot_0/base_link + pos: + - 0.049771 + - -0.002942 + - 1.295723 + ori: + - 0.0002 + - -55.623 + - -90.0 + annotator: + enabled: true + rgb_capture: + type: rgb + device: cpu + wrist: + camera: + type: camera + mesh: pinhole + resolution: + - 640 + - 480 + frequency: 25 + focal_length: 1.280753493309021 + horizontal_aperture: 1.9199999570846558 + vertical_aperture: 1.44 + clipping_range: + - 0.05 + - 30.0 + focus_distance: 3.0 + mode: RGB + mount_link: Robot_0/link_gripper_s3_body + pos: + - 0.009 + - 0.062939 + - 0.056398 + ori: + - -170.0021 + - 0.0 + - -179.9998 + annotator: + enabled: true + rgb_capture: + type: rgb + device: cpu + scene: + terrain: + type: nav_room + collision: true + hide_top_walls: true + usd: + - $MAGICSIM_ASSETS/Room/Collected_SimpleRoom + annotation: Annotation + random: false + pos: + - 0.0 + - 0.0 + - 0.0 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 1.0 + - 1.0 + - 1.0 + physics_material: + static_friction: 1.0 + dynamic_friction: 1.0 + restitution: 0.0 + friction_combine_mode: multiply + restitution_combine_mode: multiply + background: + intensity: + - 1000 + - 1000 + light: + light_1: + types: + - Dome + common: + pos: + - 0.0 + - 0.0 + - 0.0 + ori: + - 0.0 + - 0.0 + - 0.0 + color_temperature_range: + - 6500 + - 6500 + color_range: + - - 1.0 + - 1.0 + - 1.0 + - - 1.0 + - 1.0 + - 1.0 + Dome: + intensity_range: + - 959.2683081244238 + - 959.2683081244238 + water: + max_particles: 1600 + particle: + fluid_rest_offset: 0.0018 + ccd: true + look: + mode: spheres + color: + - 0.05 + - 0.45 + - 1.0 + bead_scale: 1.5 + retire: + floor_ttl: 3600.0 + max_age: 7200.0 + radius: 30.0 + below: -2.0 + objects: + table_a: + usd: + - Cube + num_per_env: 1 + random: false + table_a_1: + pos: + - -1.0 + - 3.2 + - 0.30500000000000005 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.9 + - 0.6 + - 0.55 + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - - 0.35 + - 0.37 + - 0.4 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.7857726706840378 + dynamic_friction: 0.5893295030130283 + restitution: 0.0 + table_b: + usd: + - Cube + num_per_env: 1 + random: false + table_b_1: + pos: + - 2.6 + - 0.4 + - 0.30500000000000005 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.7 + - 1.0 + - 0.55 + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - - 0.35 + - 0.37 + - 0.4 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.8332355662968454 + dynamic_friction: 0.624926674722634 + restitution: 0.0 + tray: + usd: + - $MAGICSIM_ASSETS/Object/MMB/Tray/Object.usda + num_per_env: 1 + random: false + tray_1: + pos: + - -0.9970617065855558 + - 3.125790143461569 + - 0.7210000000000001 + ori: + - 0.0 + - 0.0 + - 93.63274946441378 + physics: + type: rigid + mass: 0.08718231745083616 + physics_material: + static_friction: 1.5602868623198343 + dynamic_friction: 1.365251004529855 + restitution: 0.0 + water: {} + rack_a0: + usd: + - Cube + num_per_env: 1 + random: false + rack_a0_1: + pos: + - -1.0 + - 3.2835 + - 0.6240000000000001 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.1 + - 0.173 + - 0.08799999999999997 + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - - 0.45 + - 0.3 + - 0.18 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.7943877904474701 + dynamic_friction: 0.5957908428356026 + restitution: 0.0 + cradle: + usd: + - $MAGICSIM_ASSETS/Object/MMB/Cradle/Object.usda + num_per_env: 1 + random: false + cradle_1: + pos: + - 2.449 + - 0.4 + - 0.5800000000000001 + ori: + - 0.0 + - 0.0 + - 0.0 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.8257172664535046 + dynamic_friction: 0.6192879498401285 + restitution: 0.0 + nav: + navmesh: + enabled: true + visualize: false + bake_timeout_s: 120 + agent_height_cm: 170 + min_agent_radius_cm: 55.0 + max_agent_radius_cm: 55.0 + max_step_height_cm: 20 + max_floor_slope_deg: 30 + agent_island_radius_cm: 5 + auto_exclude_rigid_bodies: true + validate_path_clearance: true + validate_path_window: true + navmesh_offset_z_m: 0 + verbose: true + occupancymap: + cell_size: 0.05 +task: + observation: {} + reward: {} + termination: + timeout_steps: 24000 + success_hold_frames: 1 + mmb: + task_id: N015 + agent_id: a03 + embodiment: stretch3 + level: easy + scene_seed: 1022 + layout: + S: + - -2.9013118995463456 + - -1.9175129951067469 + - -2.0943951023931957 + tables: + A: + center: + - -1.0 + - 3.2 + size: + - 0.9 + - 0.6 + top: 0.5800000000000001 + color: + - 0.35 + - 0.37 + - 0.4 + B: + center: + - 2.6 + - 0.4 + size: + - 0.7 + - 1.0 + top: 0.5800000000000001 + color: + - 0.35 + - 0.37 + - 0.4 + stations: + A: + table: A + work_point: + - -1.0 + - 3.12 + arm_dir: + - 0.0 + - 1.0 + reach: 0.74 + fwd: -0.021 + stand: + - -1.021 + - 2.38 + - -3.141592653589793 + B: + table: B + work_point: + - 2.34 + - 0.4 + arm_dir: + - 1.0 + - 0.0 + reach: 0.5900000000000001 + fwd: -0.021 + stand: + - 1.7499999999999998 + - 0.42100000000000004 + - 1.5707963267948966 + hold_ticks: 40 + grace_ticks: 300 + water_settle_ticks: 160 + object_settle_ticks: 60 + planning: + avoid: + - dynamic + ignore: + - tray + - water + water: + max_particles: 1600 + fluid_rest_offset: 0.0018 + cradle: + center: + - 2.449 + - 0.4 + top_z: 0.6500000000000001 + far_edge_x: 2.549 + size: + - 0.2 + - 0.12 + - 0.07 + start: + ml: 24.0 + blob_shift_x: 0.0 + success: + min_pocket_ml: 14.0 + max_start_ml: 7.0 + min_start_at_cradle_frac: 0.8 + max_spill_ml: 3.0 + min_carry_frac: 0.9 + max_over_top_ticks: 6 + max_end_tilt_deg: 4.0 + tool: + category: tray + asset: Tray + plate_z: 0.7200000000000001 + view: + eye: + - 2.999 + - -0.09999999999999998 + - 1.0 + target: + - 2.449 + - 0.4 + - 0.6800000000000002 + dr: + seed: 1022 + spawn_dxy: + - 0.099 + - -0.118 + friction_scale: + cradle_1: 1.032 + rack_a0_1: 0.993 + table_a_1: 0.982 + table_b_1: 1.042 + tray_1: 0.975 + moved: + tray_1: + - 0.0029 + - 0.0058 + - 3.63 + light_scale: 1.066 +collect: + command: + TiltMaze: + stage_retries: 2 + robot_id: 0 + init_limit: 30 + max_attempt: 1 + completion_timeout_steps: 4000 + pre_back: 0.12 + lift: 0.08 + lift_slip_deg: 12.0 + carry: + lateral: 0.55 + forward: 0.0 + z: 0.88 + pitch_up_deg: 16.0 + place: + above: 0.06 + contact_gap: 0.002 + pre_pitch_up_deg: 5.0 + tilt: + deg: + - 5.0 + - 9.0 + - 13.0 + hold_ticks: 300 + back_deg: + - 8.0 + - 4.0 + - 0.0 + modes: + pre_grasp: -1 + grasp: 4 + lift: 4 + carry: -1 + trim: 4 + pre_place: -1 + place: 4 + tilt: 4 + release: 4 + retreat: 4 + global_planner: + NavTo: + use_navmesh: true + use_absolute: true + translation_threshold: 0.15 + rotation_threshold: 3.3 + num_path_segments: 30 + start_forward_offset: 0.0 + visualize_path: false + carry_arm: true + NavToTrim: + use_navmesh: false + carry_arm: true + visualize_path: false + trim_pos_threshold: 0.01 + trim_yaw_threshold: 0.015 + max_steps: 1500 + MobileMoveL: + translation_threshold: 0.008 + rotation_threshold: 0.08 + stall_release_ticks: 80 + stall_release_factor: 2.5 + motiongen_distance_threshold: 0.0 + timeout_steps: 900 + debug: false + debug_viz: false + debug_sphere: false + reactive: false + base_pos_threshold: 0.025 + base_rot_threshold: 0.05 + eef_pos_threshold: 0.03 + eef_rot_threshold: 0.1 + waypoint_max_steps: 30 + interp_steps: 120 + ParallelGripper: + gripper_threshold: 0.001 + atomic_skill: + NavToPose: + robot_id: 0 + position_threshold: 0.15 + angle_threshold: 3.3 + trim: true + Move: + robot_id: 0 + hand_id: 0 + arm_planner: MobileMoveL + hand_planner: ParallelGripper + ramp_steps: 0 + hold_steps: 60 + open_value: 0.0 + close_value: 1.0 + auto_collect: + task_type: tiltmaze + max_trajectories: 1 + record: + output_dir: /mnt/scratch/xc536_atomic/n015_str_off_1022/out + formats: + - lerobot_v21 + - sim_info + clear_buffer_on_failure: true + lerobot: + subsample_every: 2 +visual_dr: + keep: + - Water diff --git a/N015/stretch3/dr_off/seed_1022/report.json b/N015/stretch3/dr_off/seed_1022/report.json new file mode 100644 index 0000000000000000000000000000000000000000..540dbee20282346be12aa0fd13e62690ec8c5266 --- /dev/null +++ b/N015/stretch3/dr_off/seed_1022/report.json @@ -0,0 +1,10526 @@ +{ + "task": "N015", + "level": "easy", + "seed": 1022, + "episodes": [ + { + "task_id": "N015", + "task_version": "EXT60-MobileAvatar-v3", + "agent_id": "a03", + "family_id": "liquid_tilt_maze", + "primary_category": "C5", + "level": "easy", + "embodiment": "stretch3", + "scene_seed": 1022, + "execution_mode": "scripted_expert_chain: Task env -> Command -> AtomicSkill -> GlobalPlanner 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