diff --git a/N009/sawyer_umi/dr_on/seed_2084/check.json b/N009/sawyer_umi/dr_on/seed_2084/check.json new file mode 100644 index 0000000000000000000000000000000000000000..b214c29dbe134273761f461faeafb76863a9a288 --- /dev/null +++ b/N009/sawyer_umi/dr_on/seed_2084/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.'; expected 'Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2424 rows vs ceil(4848/2) = 2424" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4947, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "46.00 MB, 2424 frames at 25 fps, mean luma 93..122, std 23, new picture 2423x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2424 vs 2424" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "46.78 MB, 2424 frames at 25 fps, mean luma 81..140, std 28, new picture 2423x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2424 vs 2424" + }, + "sim_info present": { + "pass": true, + "detail": "record/stationlayer/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N009/sawyer_umi/dr_on/seed_2084/check.txt b/N009/sawyer_umi/dr_on/seed_2084/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..74209a956948c44d389263d38d268c6e4d9dd41a --- /dev/null +++ b/N009/sawyer_umi/dr_on/seed_2084/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n009_saw_on_2084/out task=N009 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n009_saw_on_2084/out/record/stationlayer/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2424 videos 2 robot_type RidgebackSawyerUmiCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 2424 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.'; expected 'Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.' +rows 2424 at dataset fps 25 = 96.96 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2424 rows vs ceil(4848/2) = 2424 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4947, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 46.00 MB, 2424 frames at 25 fps, mean luma 93..122, std 23, new picture 2423x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2424 vs 2424 +[PASS] video observation.images.wrist decodes, 640x480, not black: 46.78 MB, 2424 frames at 25 fps, mean luma 81..140, std 28, new picture 2423x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2424 vs 2424 +parquet size 57.46 MB +[PASS] sim_info present: record/stationlayer/000/sim_info +dataset size 152.64 MB; whole cell dir 209.5 MB +RESULT: ALL PASS diff --git a/N009/sawyer_umi/dr_on/seed_2084/config.yaml b/N009/sawyer_umi/dr_on/seed_2084/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..029705215a0dc50339a42490d8e174d409059064 --- /dev/null +++ b/N009/sawyer_umi/dr_on/seed_2084/config.yaml @@ -0,0 +1,567 @@ +env: + sim: + device: cpu + use_fabric: false + decimation: 4 + dt: 0.005 + soft_resets: 2 + scene: + num_envs: 1 + env_spacing: 20 + render: + rendering_mode: performance + enable_reflections: false + enable_global_illumination: false + enable_translucency: false + enable_dl_denoiser: false + physx: + gpu_collision_stack_size: 33554432 + gpu_heap_capacity: 268435456 + seed: 2084 + robot: + RidgebackSawyerUmi: + name: ridgebacksawyer_umi + type: mobilemanip + common: + pos: + - - -3.5 + - -2.3 + - 0.05 + - - -2.9000000000000004 + - -1.7 + - 0.05 + ori: + - - 0.0 + - 0.0 + - -20.0 + - - 0.0 + - 0.0 + - 20.0 + initial_joint_pos: + dummy_base_.*: 0.0 + head_pan: 0.0 + right_j0: 0.0 + right_j1: -1.6 + right_j2: 0.0 + right_j3: 0.5 + right_j4: 0.0 + right_j5: -2.32 + right_j6: 0.0 + right_gripper_l_finger_joint: 0.0 + right_gripper_r_finger_joint: 0.0 + action: + base_action: holonomic_action + arm_action: ik_pink + 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 + ik: + type: ridgebacksawyer_umi + model_tuning: ridgeback_sawyer_umi + enable: true + ik_num_instances: 1 + ik_batch_size: 1 + ik_num_seeds: 32 + ik_position_threshold: 0.005 + ik_rotation_threshold: 0.05 + microbatch_wait_ms: 20.0 + relative_to_world_frame: false + motiongen: + type: ridgebacksawyer_umi + model_tuning: ridgeback_sawyer_umi + enable: true + motiongen_num_instances: 1 + batch_size: 1 + microbatch_wait_ms: 20.0 + mode: position + relative_to_world_frame: false + start_state_limit_inset: 0.002 + num_trajopt_seeds: 1 + num_ik_seeds: 4 + body: + type: nav + dwb_type: dwb_holonomic + dwb_holonomic: + 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: 1.5 + max_steer_rate: 1.5 + max_accel_vx: 1.5 + max_accel_vy: 1.5 + max_yaw_accel: 1.5 + w_goal: 6.0 + w_path: 8.0 + w_vel: 0.2 + w_vy: 0.0 + goal_cost_mode: path + dilate_radius: 0.36 + room_size: 12.0 + occupancy_update_interval: 25 + scan_height: 0.35 + scan_min_z: 0.12 + scan_max_z: 1.65 + goal_pos_threshold: 0.05 + goal_yaw_threshold: 0.05 + kp_goal_yaw: 1.5 + heading_reference: path + turn_yaw_threshold: 0.8 + heading_lookahead: 0.8 + heading_min_leg: 0.35 + route_yaw_gain: 2.0 + goal_yaw_hysteresis: 0.02 + min_vx: -0.3 + max_vx: 0.3 + min_vy: -0.3 + max_vy: 0.3 + min_yaw_rate: -0.8 + max_yaw_rate: 0.8 + safety_enabled: true + safety_deceleration: 0.5 + safety_reaction_time: 0.5 + scan_type: 3d + p_controller: + kp_angular_turning_only: 2.0 + kd_angular_turning_only: 1.0 + kp_linear_x: 3.0 + kp_linear_y: 3.0 + kp_angular: 2.0 + kd_linear_x: 1.0 + kd_linear_y: 1.0 + min_vel: -0.4 + max_vel: 0.5 + linear_dead_zone: 0.01 + angular_dead_zone: 0.05 + nav_heading_target: -1 + nav_upgrade_distance: 0.03 + arm: + type: default + eef: + type: default + physics: + robot_radius: 0.66 + wheel_base: 0.01 + reset: default + camera: + enable_tiled: false + colorize_depth: false + head: + camera: + type: camera + mesh: pinhole + resolution: + - 640 + - 480 + frequency: 25 + focal_length: 2.0 + horizontal_aperture: 3.6 + vertical_aperture: 2.7 + clipping_range: + - 0.05 + - 30.0 + focus_distance: 3.0 + mode: RGB + mount_link: Robot_0/head + pos: + - 0.2166 + - 0.0 + - -0.045 + ori: + - -0.0 + - 35.0 + - -90.0 + annotator: + enabled: true + rgb_capture: + type: rgb + device: cpu + wrist: + camera: + type: camera + mesh: pinhole + resolution: + - 640 + - 480 + frequency: 25 + focal_length: 1.8 + horizontal_aperture: 3.6 + vertical_aperture: 2.7 + clipping_range: + - 0.05 + - 30.0 + focus_distance: 3.0 + mode: RGB + mount_link: Robot_0/right_electric_gripper_base + pos: + - 0.0598 + - 0.0 + - 0.03 + ori: + - 180.0 + - 0.0 + - -90.0 + annotator: + enabled: true + rgb_capture: + type: rgb + device: cpu + nav: + navmesh: + enabled: true + visualize: false + bake_timeout_s: 180 + agent_height_cm: 150 + min_agent_radius_cm: 45.0 + max_agent_radius_cm: 45.0 + 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: false + occupancymap: + cell_size: 0.05 + 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 + objects: + table_a: + usd: + - Cube + random: false + num_per_env: 1 + common: + pos: + - 1.2 + - -1.8 + - 0.28 + ori: + - 0 + - 0 + - 0 + scale: + - 0.6 + - 0.9 + - 0.5 + table_a_1: + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - 0.55 + - 0.42 + - 0.3 + physics: + type: geometry + collision: true + table_b: + usd: + - Cube + random: false + num_per_env: 1 + common: + pos: + - 2.2 + - 2.0 + - 0.28 + ori: + - 0 + - 0 + - 0 + scale: + - 0.9 + - 0.6 + - 0.5 + table_b_1: + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - 0.55 + - 0.42 + - 0.3 + physics: + type: geometry + collision: true + layer_bottom: + usd: + - $MAGICSIM_ASSETS/Object/DeformableProxy/towel_sheet.usd + random: false + num_per_env: 1 + common: + scale: + - 0.8571428571428572 + - 1.0 + - 0.5 + layer_bottom_1: + pos: + - 1.2 + - -1.8 + - 0.536 + ori: + - 90.0 + - 0.0 + - 0.0 + visual: + color: + - - 0.2 + - 0.45 + - 0.85 + physics: + type: garment + ratio: 1.0 + particle_system: + particle_system_enabled: true + enable_ccd: true + solver_position_iteration_count: 32 + global_self_collision_enabled: true + non_particle_collision_enabled: true + contact_offset: 0.012 + rest_offset: 0.01 + particle_contact_offset: 0.005 + fluid_rest_offset: 0.0025 + solid_rest_offset: 0.0025 + max_velocity: 5.0 + particle_material: + adhesion: 0.1 + particle_adhesion_scale: 0.2 + particle_friction_scale: 0.6 + friction: 1.0 + damping: 0.05 + gravity_scale: 1.0 + garment_config: + particle_mass: 0.001 + self_collision: true + self_collision_filter: true + stretch_stiffness: 100000000.0 + bend_stiffness: 5000.0 + shear_stiffness: 5000.0 + spring_damping: 10.0 + layer_top: + usd: + - $MAGICSIM_ASSETS/Object/DeformableProxy/towel_sheet.usd + random: false + num_per_env: 1 + common: + scale: + - 0.8571428571428572 + - 1.0 + - 0.5 + layer_top_1: + pos: + - 1.14 + - -1.8 + - 0.55 + ori: + - 90.0 + - 0.0 + - 0.0 + visual: + color: + - - 0.95 + - 0.55 + - 0.15 + physics: + type: garment + ratio: 1.0 + particle_system: + particle_system_enabled: true + enable_ccd: true + solver_position_iteration_count: 32 + global_self_collision_enabled: true + non_particle_collision_enabled: true + contact_offset: 0.012 + rest_offset: 0.01 + particle_contact_offset: 0.005 + fluid_rest_offset: 0.0025 + solid_rest_offset: 0.0025 + max_velocity: 5.0 + particle_material: + adhesion: 0.1 + particle_adhesion_scale: 0.2 + particle_friction_scale: 0.6 + friction: 1.0 + damping: 0.05 + gravity_scale: 1.0 + garment_config: + particle_mass: 0.001 + self_collision: true + self_collision_filter: true + stretch_stiffness: 100000000.0 + bend_stiffness: 5000.0 + shear_stiffness: 5000.0 + spring_damping: 10.0 +task: + observation: {} + reward: {} + termination: + timeout_steps: 16000 + success_hold_frames: 3 + station: + level: easy + agent_id: a02 + embodiment: sawyer_umi + task_version: EXT60-MobileAvatar-v3 + execution_mode: expert_collect + layout: + table_h: 0.5 + standoff: 0.55 + settle_ticks: 80 + hold_ticks: 10 + judge_timeout_ticks: 300 + default_avoid: [] + report_jsonl: /mnt/scratch/xc536_atomic/n009_saw_on_2084/out/reports.jsonl + carried: + type: garment + name: layer_top + id: 0 + tracked: + - type: garment + name: layer_bottom + id: 0 + cloth: + category: layer_top + layers: {} + planner_seeds: lean + cloth_variant: null + record_scene_streams: true +collect: + global_planner: + NavTo: + use_navmesh: true + use_absolute: true + translation_threshold: 0.12 + rotation_threshold: 0.12 + num_path_segments: 30 + start_forward_offset: 0.0 + visualize_path: false + carry_arm: true + MobileMoveL: + translation_threshold: 0.006 + rotation_threshold: 0.2 + motiongen_distance_threshold: 0.05 + timeout_steps: 1800 + 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: 20 + interp_steps: 100 + debug: false + debug_viz: false + RetractMoveL: + translation_threshold: 0.02 + rotation_threshold: 0.2 + motiongen_distance_threshold: 0.05 + timeout_steps: 1800 + base_pos_threshold: 0.12 + base_rot_threshold: 0.5 + eef_pos_threshold: 0.03 + eef_rot_threshold: 0.3 + base_waypoint_max_steps: 20 + arm_waypoint_max_steps: 8 + move_strategy_distance_threshold: 0.1 + debug: false + debug_viz: false + ParallelGripper: + gripper_threshold: 0.0005 + timeout_steps: 60 + atomic_skill: + StationNav: + robot_id: 0 + show_marker: false + NavToPose: + robot_id: 0 + show_marker: false + Move: + arm_planner: MobileMoveL + hand_planner: ParallelGripper + obstacle_avoid_paths: [] + obstacle_ignore_paths: [] + close_value: 1.0 + open_value: 0.0 + hold_steps: 10 + Grasp: + pre_grasp_offset: 0.1 + retrieval_offset: 0.1 + mobile: true + pre_grasp_planner: MobileMoveL + pre_grasp_mode: -1 + grasp_mode: 4 + retrieval_mode: 4 + reactive: false + viz_grasp: false + auto_collect: + max_trajectories: null + record: + output_dir: /mnt/scratch/xc536_atomic/n009_saw_on_2084/out/record + formats: + - lerobot_v21 + - sim_info + clear_buffer_on_failure: true + lerobot: + subsample_every: 2 + command: + StationLayer: + robot_id: 0 + init_limit: 100 + max_attempt: 2 + completion_timeout_steps: 300 + direction: + - -1.0 + - 0.0 + stages: + release_height: 0.01 + settle_ticks: 240 +env_string: LayerEnv-V0 +visual_dr: + keep: + - layer_top + - layer_bottom diff --git a/N009/sawyer_umi/dr_on/seed_2084/record/stationlayer/000/completed/0.json b/N009/sawyer_umi/dr_on/seed_2084/record/stationlayer/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..7ef65a37d6926a90a0de2915d2506c7b8858d404 --- /dev/null +++ b/N009/sawyer_umi/dr_on/seed_2084/record/stationlayer/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationlayer/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N009/sawyer_umi/dr_on/seed_2084/record/stationlayer/000/joint_names.json b/N009/sawyer_umi/dr_on/seed_2084/record/stationlayer/000/joint_names.json new file mode 100644 index 0000000000000000000000000000000000000000..b07c3a8caefe01ba993e4512a81d2aefee2c0476 --- /dev/null +++ b/N009/sawyer_umi/dr_on/seed_2084/record/stationlayer/000/joint_names.json @@ -0,0 +1,17 @@ +{ + "RidgebackSawyerUmi": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] +} \ No newline at end of file diff --git a/N009/sawyer_umi/dr_on/seed_2084/record/stationlayer/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N009/sawyer_umi/dr_on/seed_2084/record/stationlayer/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..85a3e9c1d6001f2e122dfd797df5831880d6ba56 --- /dev/null +++ b/N009/sawyer_umi/dr_on/seed_2084/record/stationlayer/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9059e20eb2211754753006e66484d13716fe2c953667d3c20b92470613e785ac +size 57455779 diff --git a/N009/sawyer_umi/dr_on/seed_2084/record/stationlayer/000/lerobot_v21/meta/episodes.jsonl b/N009/sawyer_umi/dr_on/seed_2084/record/stationlayer/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e74fbc7a9bede2c2228aadef5fa0cc9da4e33367 --- /dev/null +++ b/N009/sawyer_umi/dr_on/seed_2084/record/stationlayer/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table."], "length": 2424, "magicsim/control_steps": 4848, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray table b. There are a large gray table a, a large gray table b, a small gray layer bottom and a small orange layer top. The gray table b is to the left of the gray table a. The gray layer bottom is in front of the orange layer top. The orange layer top is behind the gray layer bottom. The scene is viewed from front, at table height."} diff --git a/N009/sawyer_umi/dr_on/seed_2084/record/stationlayer/000/lerobot_v21/meta/episodes_stats.jsonl b/N009/sawyer_umi/dr_on/seed_2084/record/stationlayer/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bb06d1b4551e4a49f119fccb66cc6c7a846808da --- /dev/null +++ b/N009/sawyer_umi/dr_on/seed_2084/record/stationlayer/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.09111056705666307, 0.00046914050750520463, 0.013247093135739213, 0.8420702395146166, -0.6189261986551309, 1.1593873350582895, 0.3133301464459202, 0.32837777229935766, 0.3088338721931169, -0.18017439281017744, 0.530940594059406], "std": [0.13108462880123237, 0.011779420657038407, 0.27030808631670583, 1.183703164122458, 1.4164559237803662, 0.1470516403446288, 0.2512413936002118, 0.4005847122441151, 0.30266725766063957, 0.5924129206279601, 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"event": "command_complete"}], "transport_state": "at_B", "transport_history": [[1, "at_A"], [2058, "carried"], [4623, "at_B"]], "station_transition_order": ["S", "A", "B"], "interstation_path_lengths": {"A->B": 4.534538623207876}, "interstation_net_m": 3.3622368419267072, "distance_to_first_interaction": 3.7340688379884686, "final_approach_pose": [2.1926443576812744, 1.0358320474624634, 1.5494927147104987], "regrasp_events": 0, "violations": [], "mobile_checks": {"stood_in_A": true, "stood_in_B_after_A": true, "object_lifted_at_A": true, "interstation_path_long_enough": true, "carried_over_the_transit": true, "no_violation": true}, "mobile_success": true, "task_id": "N009", "task_version": "EXT60-MobileAvatar-v3", "agent_id": "a02", "family_id": "C5", "primary_category": "cloth_layer_separation", "level": "easy", "embodiment": "sawyer_umi", "scene_seed": 2084, "execution_mode": "expert_collect", "planner_seeds": "lean", "review_cameras": [], "policy_obs_signature": ["/camera_info[0]/rgb[0]:(480, 640, 4):uint8", "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", "/robot_state[0]/RidgebackSawyerUmi/base_ang_vel:(1, 3):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/base_heading_quat:(1, 4):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/base_lin_vel:(1, 3):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/base_pos:(1, 3):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/base_quat:(1, 4):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/eef_pos:(1, 3):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/eef_quat:(1, 4):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/eef_relative_pos:(1, 3):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/eef_relative_quat:(1, 4):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/eef_relatvie_pos_arm_base:(1, 3):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/gripper_pos:(1, 2):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/joint_effort:(1, 13):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/joint_pos:(1, 13):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/joint_vel:(1, 13):torch.float32"], "station_layout": {"start": [-3.2, -2.0, 0.0], "stands": {"A": [0.34999999999999987, -1.8, 0.0], "B": [2.2, 1.1500000000000001, 1.5707963267948966]}, "tables": {"A": {"aabb": [0.8999999999999999, -2.25, 1.5, -1.35], "top_z": 0.53}, "B": {"aabb": [1.7500000000000002, 1.7, 2.6500000000000004, 2.3], "top_z": 0.53}}, "room": [-4.4, 4.4, -3.25, 4.75]}, "manipulation_success": true, "judge": {"ok": true, "reason": "", "numbers": {"bottom_shift_m": 2.98934297902887e-06, "bottom_max_shift_m": 1.5933522419781136e-05, "bottom_lift_m": 4.697902955541622e-09, "top_z_over_table_b": 0.0314476480339716, "top_to_zone_m": 0.09867641524279178, "hand_to_top_m": 0.25915094954718576, "bridge_active": 0.0}}, "full_success": true, "failure_reason": null, "fail_class": null, "material_loss_during_transport": 0.0, "grasp_mode": "attach_bridge", "ticks": 4948, "control_steps": 4494, "attach_events": [{"event": "attach", "at_tick": 1977, "opening_m": 0.0054169874638319016, "nearest_particle_m": 0.003973496712847536, "bound": true}, {"event": "release", "at_tick": 4541}], "ticks_bound_with_open_pads": 0, "bottom_layer_max_shift_m": 1.5933522419781136e-05, "bottom_layer_reference": [1.1999998576424147, -1.7999992429329257, 0.5400001372693711], "top_layer_final_centroid": [2.136885984364693, 2.075852857266909, 0.5614476480339716], "bottom_layer_final_centroid": [1.2000022749681034, -1.8000010015425927, 0.5400001419672741], "judge_definitions": {"card_bottom_max_shift_m": 0.03, "card_zone_half_width_m": 0.12, "command_min_lift_gain_m": 0.05, "command_min_lift_gain_m_before_n009_p5": 0.1, "command_min_lift_gain_note": "internal progress gate of the Command (mean rise of the top sheet after the lift), not a card threshold: 0.10 m was above lift - hang/2 = 0.08-0.09 m, the most a free-hanging 0.30 m sheet lifted 0.18 m can gain (measured 0.069 / 0.084); lowered to 0.05 m, a test pins it below that ceiling"}, "asset_variant": "stock_proxy_two_sheet"} diff --git a/N009/sawyer_umi/dr_on/seed_2085/check.json b/N009/sawyer_umi/dr_on/seed_2085/check.json new file mode 100644 index 0000000000000000000000000000000000000000..287dbc82ff4be47c979abf0877c7dec85d9ddb17 --- /dev/null +++ b/N009/sawyer_umi/dr_on/seed_2085/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.'; expected 'Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2397 rows vs ceil(4794/2) = 2397" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4893, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "60.19 MB, 2397 frames at 25 fps, mean luma 87..122, std 41, new picture 2396x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2397 vs 2397" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "64.56 MB, 2397 frames at 25 fps, mean luma 48..151, std 36, new picture 2396x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2397 vs 2397" + }, + "sim_info present": { + "pass": true, + "detail": "record/stationlayer/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N009/sawyer_umi/dr_on/seed_2085/check.txt b/N009/sawyer_umi/dr_on/seed_2085/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..e7777de20c433d56fefd4d2673bf53d5686ef2ec --- /dev/null +++ b/N009/sawyer_umi/dr_on/seed_2085/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n009_saw_on_2085/out task=N009 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n009_saw_on_2085/out/record/stationlayer/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2397 videos 2 robot_type RidgebackSawyerUmiCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 2397 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.'; expected 'Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.' +rows 2397 at dataset fps 25 = 95.88 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2397 rows vs ceil(4794/2) = 2397 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4893, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 60.19 MB, 2397 frames at 25 fps, mean luma 87..122, std 41, new picture 2396x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2397 vs 2397 +[PASS] video observation.images.wrist decodes, 640x480, not black: 64.56 MB, 2397 frames at 25 fps, mean luma 48..151, std 36, new picture 2396x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2397 vs 2397 +parquet size 57.22 MB +[PASS] sim_info present: record/stationlayer/000/sim_info +dataset size 184.37 MB; whole cell dir 241.1 MB +RESULT: ALL PASS diff --git a/N009/sawyer_umi/dr_on/seed_2085/config.yaml b/N009/sawyer_umi/dr_on/seed_2085/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49bb82226a7a62b3b1c63f2d144c40a72e1362ad --- /dev/null +++ b/N009/sawyer_umi/dr_on/seed_2085/config.yaml @@ -0,0 +1,567 @@ +env: + sim: + device: cpu + use_fabric: false + decimation: 4 + dt: 0.005 + soft_resets: 2 + scene: + num_envs: 1 + env_spacing: 20 + render: + rendering_mode: performance + enable_reflections: false + enable_global_illumination: false + enable_translucency: false + enable_dl_denoiser: false + physx: + gpu_collision_stack_size: 33554432 + gpu_heap_capacity: 268435456 + seed: 2085 + robot: + RidgebackSawyerUmi: + name: ridgebacksawyer_umi + type: mobilemanip + common: + pos: + - - -3.5 + - -2.3 + - 0.05 + - - -2.9000000000000004 + - -1.7 + - 0.05 + ori: + - - 0.0 + - 0.0 + - -20.0 + - - 0.0 + - 0.0 + - 20.0 + initial_joint_pos: + dummy_base_.*: 0.0 + head_pan: 0.0 + right_j0: 0.0 + right_j1: -1.6 + right_j2: 0.0 + right_j3: 0.5 + right_j4: 0.0 + right_j5: -2.32 + right_j6: 0.0 + right_gripper_l_finger_joint: 0.0 + right_gripper_r_finger_joint: 0.0 + action: + base_action: holonomic_action + arm_action: ik_pink + 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 + ik: + type: ridgebacksawyer_umi + model_tuning: ridgeback_sawyer_umi + enable: true + ik_num_instances: 1 + ik_batch_size: 1 + ik_num_seeds: 32 + ik_position_threshold: 0.005 + ik_rotation_threshold: 0.05 + microbatch_wait_ms: 20.0 + relative_to_world_frame: false + motiongen: + type: ridgebacksawyer_umi + model_tuning: ridgeback_sawyer_umi + enable: true + motiongen_num_instances: 1 + batch_size: 1 + microbatch_wait_ms: 20.0 + mode: position + relative_to_world_frame: false + start_state_limit_inset: 0.002 + num_trajopt_seeds: 1 + num_ik_seeds: 4 + body: + type: nav + dwb_type: dwb_holonomic + dwb_holonomic: + 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: 1.5 + max_steer_rate: 1.5 + max_accel_vx: 1.5 + max_accel_vy: 1.5 + max_yaw_accel: 1.5 + w_goal: 6.0 + w_path: 8.0 + w_vel: 0.2 + w_vy: 0.0 + goal_cost_mode: path + dilate_radius: 0.36 + room_size: 12.0 + occupancy_update_interval: 25 + scan_height: 0.35 + scan_min_z: 0.12 + scan_max_z: 1.65 + goal_pos_threshold: 0.05 + goal_yaw_threshold: 0.05 + kp_goal_yaw: 1.5 + heading_reference: path + turn_yaw_threshold: 0.8 + heading_lookahead: 0.8 + heading_min_leg: 0.35 + route_yaw_gain: 2.0 + goal_yaw_hysteresis: 0.02 + min_vx: -0.3 + max_vx: 0.3 + min_vy: -0.3 + max_vy: 0.3 + min_yaw_rate: -0.8 + max_yaw_rate: 0.8 + safety_enabled: true + safety_deceleration: 0.5 + safety_reaction_time: 0.5 + scan_type: 3d + p_controller: + kp_angular_turning_only: 2.0 + kd_angular_turning_only: 1.0 + kp_linear_x: 3.0 + kp_linear_y: 3.0 + kp_angular: 2.0 + kd_linear_x: 1.0 + kd_linear_y: 1.0 + min_vel: -0.4 + max_vel: 0.5 + linear_dead_zone: 0.01 + angular_dead_zone: 0.05 + nav_heading_target: -1 + nav_upgrade_distance: 0.03 + arm: + type: default + eef: + type: default + physics: + robot_radius: 0.66 + wheel_base: 0.01 + reset: default + camera: + enable_tiled: false + colorize_depth: false + head: + camera: + type: camera + mesh: pinhole + resolution: + - 640 + - 480 + frequency: 25 + focal_length: 2.0 + horizontal_aperture: 3.6 + vertical_aperture: 2.7 + clipping_range: + - 0.05 + - 30.0 + focus_distance: 3.0 + mode: RGB + mount_link: Robot_0/head + pos: + - 0.2166 + - 0.0 + - -0.045 + ori: + - -0.0 + - 35.0 + - -90.0 + annotator: + enabled: true + rgb_capture: + type: rgb + device: cpu + wrist: + camera: + type: camera + mesh: pinhole + resolution: + - 640 + - 480 + frequency: 25 + focal_length: 1.8 + horizontal_aperture: 3.6 + vertical_aperture: 2.7 + clipping_range: + - 0.05 + - 30.0 + focus_distance: 3.0 + mode: RGB + mount_link: Robot_0/right_electric_gripper_base + pos: + - 0.0598 + - 0.0 + - 0.03 + ori: + - 180.0 + - 0.0 + - -90.0 + annotator: + enabled: true + rgb_capture: + type: rgb + device: cpu + nav: + navmesh: + enabled: true + visualize: false + bake_timeout_s: 180 + agent_height_cm: 150 + min_agent_radius_cm: 45.0 + max_agent_radius_cm: 45.0 + 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: false + occupancymap: + cell_size: 0.05 + 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 + objects: + table_a: + usd: + - Cube + random: false + num_per_env: 1 + common: + pos: + - 1.2 + - -1.8 + - 0.28 + ori: + - 0 + - 0 + - 0 + scale: + - 0.6 + - 0.9 + - 0.5 + table_a_1: + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - 0.55 + - 0.42 + - 0.3 + physics: + type: geometry + collision: true + table_b: + usd: + - Cube + random: false + num_per_env: 1 + common: + pos: + - 2.2 + - 2.0 + - 0.28 + ori: + - 0 + - 0 + - 0 + scale: + - 0.9 + - 0.6 + - 0.5 + table_b_1: + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - 0.55 + - 0.42 + - 0.3 + physics: + type: geometry + collision: true + layer_bottom: + usd: + - $MAGICSIM_ASSETS/Object/DeformableProxy/towel_sheet.usd + random: false + num_per_env: 1 + common: + scale: + - 0.8571428571428572 + - 1.0 + - 0.5 + layer_bottom_1: + pos: + - 1.2 + - -1.8 + - 0.536 + ori: + - 90.0 + - 0.0 + - 0.0 + visual: + color: + - - 0.2 + - 0.45 + - 0.85 + physics: + type: garment + ratio: 1.0 + particle_system: + particle_system_enabled: true + enable_ccd: true + solver_position_iteration_count: 32 + global_self_collision_enabled: true + non_particle_collision_enabled: true + contact_offset: 0.012 + rest_offset: 0.01 + particle_contact_offset: 0.005 + fluid_rest_offset: 0.0025 + solid_rest_offset: 0.0025 + max_velocity: 5.0 + particle_material: + adhesion: 0.1 + particle_adhesion_scale: 0.2 + particle_friction_scale: 0.6 + friction: 1.0 + damping: 0.05 + gravity_scale: 1.0 + garment_config: + particle_mass: 0.001 + self_collision: true + self_collision_filter: true + stretch_stiffness: 100000000.0 + bend_stiffness: 5000.0 + shear_stiffness: 5000.0 + spring_damping: 10.0 + layer_top: + usd: + - $MAGICSIM_ASSETS/Object/DeformableProxy/towel_sheet.usd + random: false + num_per_env: 1 + common: + scale: + - 0.8571428571428572 + - 1.0 + - 0.5 + layer_top_1: + pos: + - 1.14 + - -1.8 + - 0.55 + ori: + - 90.0 + - 0.0 + - 0.0 + visual: + color: + - - 0.95 + - 0.55 + - 0.15 + physics: + type: garment + ratio: 1.0 + particle_system: + particle_system_enabled: true + enable_ccd: true + solver_position_iteration_count: 32 + global_self_collision_enabled: true + non_particle_collision_enabled: true + contact_offset: 0.012 + rest_offset: 0.01 + particle_contact_offset: 0.005 + fluid_rest_offset: 0.0025 + solid_rest_offset: 0.0025 + max_velocity: 5.0 + particle_material: + adhesion: 0.1 + particle_adhesion_scale: 0.2 + particle_friction_scale: 0.6 + friction: 1.0 + damping: 0.05 + gravity_scale: 1.0 + garment_config: + particle_mass: 0.001 + self_collision: true + self_collision_filter: true + stretch_stiffness: 100000000.0 + bend_stiffness: 5000.0 + shear_stiffness: 5000.0 + spring_damping: 10.0 +task: + observation: {} + reward: {} + termination: + timeout_steps: 16000 + success_hold_frames: 3 + station: + level: easy + agent_id: a02 + embodiment: sawyer_umi + task_version: EXT60-MobileAvatar-v3 + execution_mode: expert_collect + layout: + table_h: 0.5 + standoff: 0.55 + settle_ticks: 80 + hold_ticks: 10 + judge_timeout_ticks: 300 + default_avoid: [] + report_jsonl: /mnt/scratch/xc536_atomic/n009_saw_on_2085/out/reports.jsonl + carried: + type: garment + name: layer_top + id: 0 + tracked: + - type: garment + name: layer_bottom + id: 0 + cloth: + category: layer_top + layers: {} + planner_seeds: lean + cloth_variant: null + record_scene_streams: true +collect: + global_planner: + NavTo: + use_navmesh: true + use_absolute: true + translation_threshold: 0.12 + rotation_threshold: 0.12 + num_path_segments: 30 + start_forward_offset: 0.0 + visualize_path: false + carry_arm: true + MobileMoveL: + translation_threshold: 0.006 + rotation_threshold: 0.2 + motiongen_distance_threshold: 0.05 + timeout_steps: 1800 + 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: 20 + interp_steps: 100 + debug: false + debug_viz: false + RetractMoveL: + translation_threshold: 0.02 + rotation_threshold: 0.2 + motiongen_distance_threshold: 0.05 + timeout_steps: 1800 + base_pos_threshold: 0.12 + base_rot_threshold: 0.5 + eef_pos_threshold: 0.03 + eef_rot_threshold: 0.3 + base_waypoint_max_steps: 20 + arm_waypoint_max_steps: 8 + move_strategy_distance_threshold: 0.1 + debug: false + debug_viz: false + ParallelGripper: + gripper_threshold: 0.0005 + timeout_steps: 60 + atomic_skill: + StationNav: + robot_id: 0 + show_marker: false + NavToPose: + robot_id: 0 + show_marker: false + Move: + arm_planner: MobileMoveL + hand_planner: ParallelGripper + obstacle_avoid_paths: [] + obstacle_ignore_paths: [] + close_value: 1.0 + open_value: 0.0 + hold_steps: 10 + Grasp: + pre_grasp_offset: 0.1 + retrieval_offset: 0.1 + mobile: true + pre_grasp_planner: MobileMoveL + pre_grasp_mode: -1 + grasp_mode: 4 + retrieval_mode: 4 + reactive: false + viz_grasp: false + auto_collect: + max_trajectories: null + record: + output_dir: /mnt/scratch/xc536_atomic/n009_saw_on_2085/out/record + formats: + - lerobot_v21 + - sim_info + clear_buffer_on_failure: true + lerobot: + subsample_every: 2 + command: + StationLayer: + robot_id: 0 + init_limit: 100 + max_attempt: 2 + completion_timeout_steps: 300 + direction: + - -1.0 + - 0.0 + stages: + release_height: 0.01 + settle_ticks: 240 +env_string: LayerEnv-V0 +visual_dr: + keep: + - layer_top + - layer_bottom diff --git a/N009/sawyer_umi/dr_on/seed_2085/record/stationlayer/000/completed/0.json b/N009/sawyer_umi/dr_on/seed_2085/record/stationlayer/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..7ef65a37d6926a90a0de2915d2506c7b8858d404 --- /dev/null +++ b/N009/sawyer_umi/dr_on/seed_2085/record/stationlayer/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationlayer/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N009/sawyer_umi/dr_on/seed_2085/record/stationlayer/000/joint_names.json b/N009/sawyer_umi/dr_on/seed_2085/record/stationlayer/000/joint_names.json new file mode 100644 index 0000000000000000000000000000000000000000..b07c3a8caefe01ba993e4512a81d2aefee2c0476 --- /dev/null +++ b/N009/sawyer_umi/dr_on/seed_2085/record/stationlayer/000/joint_names.json @@ -0,0 +1,17 @@ +{ + "RidgebackSawyerUmi": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] +} \ No newline at end of file diff --git a/N009/sawyer_umi/dr_on/seed_2085/record/stationlayer/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N009/sawyer_umi/dr_on/seed_2085/record/stationlayer/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..ef671b6eff4d5fc19b252c92fa21df71a5823ff3 --- /dev/null +++ b/N009/sawyer_umi/dr_on/seed_2085/record/stationlayer/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:30043265c9cd5501d66f16b7956f2ee7e26214f31540a250cfa147d7efcc2bab +size 57221627 diff --git a/N009/sawyer_umi/dr_on/seed_2085/record/stationlayer/000/lerobot_v21/meta/episodes.jsonl b/N009/sawyer_umi/dr_on/seed_2085/record/stationlayer/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..53298b849d4920831a17ddf967f7a7e41b793027 --- /dev/null +++ b/N009/sawyer_umi/dr_on/seed_2085/record/stationlayer/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table."], "length": 2397, "magicsim/control_steps": 4794, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray table b. There are a large gray table a, a large gray table b, a small gray layer bottom and a small orange layer top. The gray table b is to the left of the gray table a. The gray layer bottom is in front of the orange layer top. The orange layer top is behind the gray layer bottom. The scene is viewed from front, at table height."} diff --git a/N009/sawyer_umi/dr_on/seed_2085/record/stationlayer/000/lerobot_v21/meta/episodes_stats.jsonl b/N009/sawyer_umi/dr_on/seed_2085/record/stationlayer/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0d790fdd3711830c4a0895fa79f8d122cde92a51 --- /dev/null +++ b/N009/sawyer_umi/dr_on/seed_2085/record/stationlayer/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.08864799577666661, 0.0005043354231209918, 0.012910346057837923, 0.8786442312577092, -0.6293432140815343, 1.1555362185638152, 0.28085538956271017, 0.3671490192820517, 0.2812544729532056, -0.2078174930578739, 0.5314977054651648], "std": [0.12986550420664472, 0.011729143360836101, 0.27227792828193365, 1.1127829323641707, 1.407325383397084, 0.14718763223633635, 0.22948854013011802, 0.4227685615391102, 0.3032726707027148, 0.5836582585729322, 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There are a large gray table a, a large gray table b, a small gray layer bottom and a small orange layer top. The gray table b is to the left of the gray table a. The gray layer bottom is in front of the orange layer top. The orange layer top is behind the gray layer bottom. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[table b]\n\n\n [la[layer top]\n\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationLayer", + "instruction": "Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.", + "template_id": -1, + "slots": { + "obj": 0.0, + "support": null + }, + "generic_instruction": "Stationlayer the object.", + "task_id": "N009", + "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/N009/sawyer_umi/dr_on/seed_2085/record/stationlayer/000/lerobot_v21/meta/info.json b/N009/sawyer_umi/dr_on/seed_2085/record/stationlayer/000/lerobot_v21/meta/info.json new file mode 100644 index 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"expert_collect", "planner_seeds": "lean", "review_cameras": [], "policy_obs_signature": ["/camera_info[0]/rgb[0]:(480, 640, 4):uint8", "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", "/robot_state[0]/RidgebackSawyerUmi/base_ang_vel:(1, 3):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/base_heading_quat:(1, 4):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/base_lin_vel:(1, 3):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/base_pos:(1, 3):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/base_quat:(1, 4):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/eef_pos:(1, 3):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/eef_quat:(1, 4):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/eef_relative_pos:(1, 3):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/eef_relative_quat:(1, 4):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/eef_relatvie_pos_arm_base:(1, 3):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/gripper_pos:(1, 2):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/joint_effort:(1, 13):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/joint_pos:(1, 13):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/joint_vel:(1, 13):torch.float32"], "station_layout": {"start": [-3.2, -2.0, 0.0], "stands": {"A": [0.34999999999999987, -1.8, 0.0], "B": [2.2, 1.1500000000000001, 1.5707963267948966]}, "tables": {"A": {"aabb": [0.8999999999999999, -2.25, 1.5, -1.35], "top_z": 0.53}, "B": {"aabb": [1.7500000000000002, 1.7, 2.6500000000000004, 2.3], "top_z": 0.53}}, "room": [-4.4, 4.4, -3.25, 4.75]}, "manipulation_success": true, "judge": {"ok": true, "reason": "", "numbers": {"bottom_shift_m": 3.3908842257446913e-06, "bottom_max_shift_m": 1.717233150415403e-05, "bottom_lift_m": 7.63409246928859e-09, "top_z_over_table_b": 0.03543247134311356, "top_to_zone_m": 0.09039541329493773, "hand_to_top_m": 0.23794987228584924, "bridge_active": 0.0}}, "full_success": true, "failure_reason": null, "fail_class": null, "material_loss_during_transport": 0.0, "grasp_mode": "attach_bridge", "ticks": 4894, "control_steps": 4440, "attach_events": [{"event": "attach", "at_tick": 1948, "opening_m": 0.0054170615039765835, "nearest_particle_m": 0.0028358704399097474, "bound": true}, {"event": "release", "at_tick": 4487}], "ticks_bound_with_open_pads": 0, "bottom_layer_max_shift_m": 1.717233150415403e-05, "bottom_layer_reference": [1.1999998691612468, -1.7999992581172195, 0.540000132865087], "top_layer_final_centroid": [2.1313227269381354, 2.058777231217102, 0.5654324713431136], "bottom_layer_final_centroid": [1.2000029209852927, -1.800000736111071, 0.5400001404991794], "judge_definitions": {"card_bottom_max_shift_m": 0.03, "card_zone_half_width_m": 0.12, "command_min_lift_gain_m": 0.05, "command_min_lift_gain_m_before_n009_p5": 0.1, "command_min_lift_gain_note": "internal progress gate of the Command (mean rise of the top sheet after the lift), not a card threshold: 0.10 m was above lift - hang/2 = 0.08-0.09 m, the most a free-hanging 0.30 m sheet lifted 0.18 m can gain (measured 0.069 / 0.084); lowered to 0.05 m, a test pins it below that ceiling"}, "asset_variant": "stock_proxy_two_sheet"} diff --git a/N009/sawyer_umi/dr_on/seed_2087/check.json b/N009/sawyer_umi/dr_on/seed_2087/check.json new file mode 100644 index 0000000000000000000000000000000000000000..f74ee834e84c4cea6c4e50c364aa80de6480946f --- /dev/null +++ b/N009/sawyer_umi/dr_on/seed_2087/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.'; expected 'Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2137 rows vs ceil(4274/2) = 2137" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4373, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "62.29 MB, 2137 frames at 25 fps, mean luma 101..144, std 27, new picture 2136x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2137 vs 2137" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "61.80 MB, 2137 frames at 25 fps, mean luma 93..136, std 34, new picture 2136x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2137 vs 2137" + }, + "sim_info present": { + "pass": true, + "detail": "record/stationlayer/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N009/sawyer_umi/dr_on/seed_2087/check.txt b/N009/sawyer_umi/dr_on/seed_2087/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..cb7370b7d8573ac764a9002b157f6dc2650be47f --- /dev/null +++ b/N009/sawyer_umi/dr_on/seed_2087/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n009_saw_on_2087/out task=N009 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n009_saw_on_2087/out/record/stationlayer/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2137 videos 2 robot_type RidgebackSawyerUmiCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 2137 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.'; expected 'Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.' +rows 2137 at dataset fps 25 = 85.48 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2137 rows vs ceil(4274/2) = 2137 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4373, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 62.29 MB, 2137 frames at 25 fps, mean luma 101..144, std 27, new picture 2136x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2137 vs 2137 +[PASS] video observation.images.wrist decodes, 640x480, not black: 61.80 MB, 2137 frames at 25 fps, mean luma 93..136, std 34, new picture 2136x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2137 vs 2137 +parquet size 51.89 MB +[PASS] sim_info present: record/stationlayer/000/sim_info +dataset size 178.37 MB; whole cell dir 231.1 MB +RESULT: ALL PASS diff --git a/N009/sawyer_umi/dr_on/seed_2087/config.yaml b/N009/sawyer_umi/dr_on/seed_2087/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..67100cba71af86829a2981276eb0a3a49ae32a75 --- /dev/null +++ b/N009/sawyer_umi/dr_on/seed_2087/config.yaml @@ -0,0 +1,567 @@ +env: + sim: + device: cpu + use_fabric: false + decimation: 4 + dt: 0.005 + soft_resets: 2 + scene: + num_envs: 1 + env_spacing: 20 + render: + rendering_mode: performance + enable_reflections: false + enable_global_illumination: false + enable_translucency: false + enable_dl_denoiser: false + physx: + gpu_collision_stack_size: 33554432 + gpu_heap_capacity: 268435456 + seed: 2087 + robot: + RidgebackSawyerUmi: + name: ridgebacksawyer_umi + type: mobilemanip + common: + pos: + - - -3.5 + - -2.3 + - 0.05 + - - -2.9000000000000004 + - -1.7 + - 0.05 + ori: + - - 0.0 + - 0.0 + - -20.0 + - - 0.0 + - 0.0 + - 20.0 + initial_joint_pos: + dummy_base_.*: 0.0 + head_pan: 0.0 + right_j0: 0.0 + right_j1: -1.6 + right_j2: 0.0 + right_j3: 0.5 + right_j4: 0.0 + right_j5: -2.32 + right_j6: 0.0 + right_gripper_l_finger_joint: 0.0 + right_gripper_r_finger_joint: 0.0 + action: + base_action: holonomic_action + arm_action: ik_pink + 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 + ik: + type: ridgebacksawyer_umi + model_tuning: ridgeback_sawyer_umi + enable: true + ik_num_instances: 1 + ik_batch_size: 1 + ik_num_seeds: 32 + ik_position_threshold: 0.005 + ik_rotation_threshold: 0.05 + microbatch_wait_ms: 20.0 + relative_to_world_frame: false + motiongen: + type: ridgebacksawyer_umi + model_tuning: ridgeback_sawyer_umi + enable: true + motiongen_num_instances: 1 + batch_size: 1 + microbatch_wait_ms: 20.0 + mode: position + relative_to_world_frame: false + start_state_limit_inset: 0.002 + num_trajopt_seeds: 1 + num_ik_seeds: 4 + body: + type: nav + dwb_type: dwb_holonomic + dwb_holonomic: + 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: 1.5 + max_steer_rate: 1.5 + max_accel_vx: 1.5 + max_accel_vy: 1.5 + max_yaw_accel: 1.5 + w_goal: 6.0 + w_path: 8.0 + w_vel: 0.2 + w_vy: 0.0 + goal_cost_mode: path + dilate_radius: 0.36 + room_size: 12.0 + occupancy_update_interval: 25 + scan_height: 0.35 + scan_min_z: 0.12 + scan_max_z: 1.65 + goal_pos_threshold: 0.05 + goal_yaw_threshold: 0.05 + kp_goal_yaw: 1.5 + heading_reference: path + turn_yaw_threshold: 0.8 + heading_lookahead: 0.8 + heading_min_leg: 0.35 + route_yaw_gain: 2.0 + goal_yaw_hysteresis: 0.02 + min_vx: -0.3 + max_vx: 0.3 + min_vy: -0.3 + max_vy: 0.3 + min_yaw_rate: -0.8 + max_yaw_rate: 0.8 + safety_enabled: true + safety_deceleration: 0.5 + safety_reaction_time: 0.5 + scan_type: 3d + p_controller: + kp_angular_turning_only: 2.0 + kd_angular_turning_only: 1.0 + kp_linear_x: 3.0 + kp_linear_y: 3.0 + kp_angular: 2.0 + kd_linear_x: 1.0 + kd_linear_y: 1.0 + min_vel: -0.4 + max_vel: 0.5 + linear_dead_zone: 0.01 + angular_dead_zone: 0.05 + nav_heading_target: -1 + nav_upgrade_distance: 0.03 + arm: + type: default + eef: + type: default + physics: + robot_radius: 0.66 + wheel_base: 0.01 + reset: default + camera: + enable_tiled: false + colorize_depth: false + head: + camera: + type: camera + mesh: pinhole + resolution: + - 640 + - 480 + frequency: 25 + focal_length: 2.0 + horizontal_aperture: 3.6 + vertical_aperture: 2.7 + clipping_range: + - 0.05 + - 30.0 + focus_distance: 3.0 + mode: RGB + mount_link: Robot_0/head + pos: + - 0.2166 + - 0.0 + - -0.045 + ori: + - -0.0 + - 35.0 + - -90.0 + annotator: + enabled: true + rgb_capture: + type: rgb + device: cpu + wrist: + camera: + type: camera + mesh: pinhole + resolution: + - 640 + - 480 + frequency: 25 + focal_length: 1.8 + horizontal_aperture: 3.6 + vertical_aperture: 2.7 + clipping_range: + - 0.05 + - 30.0 + focus_distance: 3.0 + mode: RGB + mount_link: Robot_0/right_electric_gripper_base + pos: + - 0.0598 + - 0.0 + - 0.03 + ori: + - 180.0 + - 0.0 + - -90.0 + annotator: + enabled: true + rgb_capture: + type: rgb + device: cpu + nav: + navmesh: + enabled: true + visualize: false + bake_timeout_s: 180 + agent_height_cm: 150 + min_agent_radius_cm: 45.0 + max_agent_radius_cm: 45.0 + 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: false + occupancymap: + cell_size: 0.05 + 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 + objects: + table_a: + usd: + - Cube + random: false + num_per_env: 1 + common: + pos: + - 1.2 + - -1.8 + - 0.28 + ori: + - 0 + - 0 + - 0 + scale: + - 0.6 + - 0.9 + - 0.5 + table_a_1: + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - 0.55 + - 0.42 + - 0.3 + physics: + type: geometry + collision: true + table_b: + usd: + - Cube + random: false + num_per_env: 1 + common: + pos: + - 2.2 + - 2.0 + - 0.28 + ori: + - 0 + - 0 + - 0 + scale: + - 0.9 + - 0.6 + - 0.5 + table_b_1: + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - 0.55 + - 0.42 + - 0.3 + physics: + type: geometry + collision: true + layer_bottom: + usd: + - $MAGICSIM_ASSETS/Object/DeformableProxy/towel_sheet.usd + random: false + num_per_env: 1 + common: + scale: + - 0.8571428571428572 + - 1.0 + - 0.5 + layer_bottom_1: + pos: + - 1.2 + - -1.8 + - 0.536 + ori: + - 90.0 + - 0.0 + - 0.0 + visual: + color: + - - 0.2 + - 0.45 + - 0.85 + physics: + type: garment + ratio: 1.0 + particle_system: + particle_system_enabled: true + enable_ccd: true + solver_position_iteration_count: 32 + global_self_collision_enabled: true + non_particle_collision_enabled: true + contact_offset: 0.012 + rest_offset: 0.01 + particle_contact_offset: 0.005 + fluid_rest_offset: 0.0025 + solid_rest_offset: 0.0025 + max_velocity: 5.0 + particle_material: + adhesion: 0.1 + particle_adhesion_scale: 0.2 + particle_friction_scale: 0.6 + friction: 1.0 + damping: 0.05 + gravity_scale: 1.0 + garment_config: + particle_mass: 0.001 + self_collision: true + self_collision_filter: true + stretch_stiffness: 100000000.0 + bend_stiffness: 5000.0 + shear_stiffness: 5000.0 + spring_damping: 10.0 + layer_top: + usd: + - $MAGICSIM_ASSETS/Object/DeformableProxy/towel_sheet.usd + random: false + num_per_env: 1 + common: + scale: + - 0.8571428571428572 + - 1.0 + - 0.5 + layer_top_1: + pos: + - 1.14 + - -1.8 + - 0.55 + ori: + - 90.0 + - 0.0 + - 0.0 + visual: + color: + - - 0.95 + - 0.55 + - 0.15 + physics: + type: garment + ratio: 1.0 + particle_system: + particle_system_enabled: true + enable_ccd: true + solver_position_iteration_count: 32 + global_self_collision_enabled: true + non_particle_collision_enabled: true + contact_offset: 0.012 + rest_offset: 0.01 + particle_contact_offset: 0.005 + fluid_rest_offset: 0.0025 + solid_rest_offset: 0.0025 + max_velocity: 5.0 + particle_material: + adhesion: 0.1 + particle_adhesion_scale: 0.2 + particle_friction_scale: 0.6 + friction: 1.0 + damping: 0.05 + gravity_scale: 1.0 + garment_config: + particle_mass: 0.001 + self_collision: true + self_collision_filter: true + stretch_stiffness: 100000000.0 + bend_stiffness: 5000.0 + shear_stiffness: 5000.0 + spring_damping: 10.0 +task: + observation: {} + reward: {} + termination: + timeout_steps: 16000 + success_hold_frames: 3 + station: + level: easy + agent_id: a02 + embodiment: sawyer_umi + task_version: EXT60-MobileAvatar-v3 + execution_mode: expert_collect + layout: + table_h: 0.5 + standoff: 0.55 + settle_ticks: 80 + hold_ticks: 10 + judge_timeout_ticks: 300 + default_avoid: [] + report_jsonl: /mnt/scratch/xc536_atomic/n009_saw_on_2087/out/reports.jsonl + carried: + type: garment + name: layer_top + id: 0 + tracked: + - type: garment + name: layer_bottom + id: 0 + cloth: + category: layer_top + layers: {} + planner_seeds: lean + cloth_variant: null + record_scene_streams: true +collect: + global_planner: + NavTo: + use_navmesh: true + use_absolute: true + translation_threshold: 0.12 + rotation_threshold: 0.12 + num_path_segments: 30 + start_forward_offset: 0.0 + visualize_path: false + carry_arm: true + MobileMoveL: + translation_threshold: 0.006 + rotation_threshold: 0.2 + motiongen_distance_threshold: 0.05 + timeout_steps: 1800 + 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: 20 + interp_steps: 100 + debug: false + debug_viz: false + RetractMoveL: + translation_threshold: 0.02 + rotation_threshold: 0.2 + motiongen_distance_threshold: 0.05 + timeout_steps: 1800 + base_pos_threshold: 0.12 + base_rot_threshold: 0.5 + eef_pos_threshold: 0.03 + eef_rot_threshold: 0.3 + base_waypoint_max_steps: 20 + arm_waypoint_max_steps: 8 + move_strategy_distance_threshold: 0.1 + debug: false + debug_viz: false + ParallelGripper: + gripper_threshold: 0.0005 + timeout_steps: 60 + atomic_skill: + StationNav: + robot_id: 0 + show_marker: false + NavToPose: + robot_id: 0 + show_marker: false + Move: + arm_planner: MobileMoveL + hand_planner: ParallelGripper + obstacle_avoid_paths: [] + obstacle_ignore_paths: [] + close_value: 1.0 + open_value: 0.0 + hold_steps: 10 + Grasp: + pre_grasp_offset: 0.1 + retrieval_offset: 0.1 + mobile: true + pre_grasp_planner: MobileMoveL + pre_grasp_mode: -1 + grasp_mode: 4 + retrieval_mode: 4 + reactive: false + viz_grasp: false + auto_collect: + max_trajectories: null + record: + output_dir: /mnt/scratch/xc536_atomic/n009_saw_on_2087/out/record + formats: + - lerobot_v21 + - sim_info + clear_buffer_on_failure: true + lerobot: + subsample_every: 2 + command: + StationLayer: + robot_id: 0 + init_limit: 100 + max_attempt: 2 + completion_timeout_steps: 300 + direction: + - -1.0 + - 0.0 + stages: + release_height: 0.01 + settle_ticks: 240 +env_string: LayerEnv-V0 +visual_dr: + keep: + - layer_top + - layer_bottom diff --git a/N009/sawyer_umi/dr_on/seed_2087/record/stationlayer/000/completed/0.json b/N009/sawyer_umi/dr_on/seed_2087/record/stationlayer/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..7ef65a37d6926a90a0de2915d2506c7b8858d404 --- /dev/null +++ b/N009/sawyer_umi/dr_on/seed_2087/record/stationlayer/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationlayer/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N009/sawyer_umi/dr_on/seed_2087/record/stationlayer/000/joint_names.json b/N009/sawyer_umi/dr_on/seed_2087/record/stationlayer/000/joint_names.json new file mode 100644 index 0000000000000000000000000000000000000000..b07c3a8caefe01ba993e4512a81d2aefee2c0476 --- /dev/null +++ b/N009/sawyer_umi/dr_on/seed_2087/record/stationlayer/000/joint_names.json @@ -0,0 +1,17 @@ +{ + "RidgebackSawyerUmi": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] +} \ No newline at end of file diff --git a/N009/sawyer_umi/dr_on/seed_2087/record/stationlayer/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N009/sawyer_umi/dr_on/seed_2087/record/stationlayer/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..5ce8e35f0c1115e94035c0ac16046a1720df50f3 --- /dev/null +++ b/N009/sawyer_umi/dr_on/seed_2087/record/stationlayer/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e8b6ced5ca20778cce7c05dc9a5f11c96c97457b6e29f1bb09f12a9c503b142 +size 51891392 diff --git a/N009/sawyer_umi/dr_on/seed_2087/record/stationlayer/000/lerobot_v21/meta/episodes.jsonl 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"facing_yaw_deg": -8.179398399872513, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray table b. There are a large gray table a, a large gray table b, a small gray layer bottom and a small orange layer top. The gray table b is to the left of the gray table a. The gray layer bottom is in front of the orange layer top. The orange layer top is behind the gray layer bottom. The scene is viewed from front-left, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[table b]\n [la[layer top]\n\n\n\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationLayer", + "instruction": "Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.", + "template_id": -1, + "slots": { + "obj": 0.0, + "support": null + }, + "generic_instruction": "Stationlayer the object.", + "task_id": "N009", + "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/N009/sawyer_umi/dr_on/seed_2087/record/stationlayer/000/lerobot_v21/meta/info.json b/N009/sawyer_umi/dr_on/seed_2087/record/stationlayer/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..965365df8d4efc267a3c88d261aaf24cd8e2d709 --- /dev/null +++ b/N009/sawyer_umi/dr_on/seed_2087/record/stationlayer/000/lerobot_v21/meta/info.json @@ -0,0 +1,8801 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 2137, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 11 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 15 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint", + "gripper_0", + "gripper_1" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 13 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + 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"interstation_path_lengths": {"A->B": 4.5336045591839085}, "interstation_net_m": 3.3632918551120903, "distance_to_first_interaction": 3.216931425283573, "final_approach_pose": [2.190683126449585, 1.036156177520752, 1.5496378763880279], "regrasp_events": 0, "violations": [], "mobile_checks": {"stood_in_A": true, "stood_in_B_after_A": true, "object_lifted_at_A": true, "interstation_path_long_enough": true, "carried_over_the_transit": true, "no_violation": true}, "mobile_success": true, "task_id": "N009", "task_version": "EXT60-MobileAvatar-v3", "agent_id": "a02", "family_id": "C5", "primary_category": "cloth_layer_separation", "level": "easy", "embodiment": "sawyer_umi", "scene_seed": 2087, "execution_mode": "expert_collect", "planner_seeds": "lean", "review_cameras": [], "policy_obs_signature": ["/camera_info[0]/rgb[0]:(480, 640, 4):uint8", "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", "/robot_state[0]/RidgebackSawyerUmi/base_ang_vel:(1, 3):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/base_heading_quat:(1, 4):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/base_lin_vel:(1, 3):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/base_pos:(1, 3):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/base_quat:(1, 4):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/eef_pos:(1, 3):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/eef_quat:(1, 4):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/eef_relative_pos:(1, 3):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/eef_relative_quat:(1, 4):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/eef_relatvie_pos_arm_base:(1, 3):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/gripper_pos:(1, 2):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/joint_effort:(1, 13):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/joint_pos:(1, 13):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/joint_vel:(1, 13):torch.float32"], "station_layout": {"start": [-3.2, -2.0, 0.0], "stands": {"A": [0.34999999999999987, -1.8, 0.0], "B": [2.2, 1.1500000000000001, 1.5707963267948966]}, "tables": {"A": {"aabb": [0.8999999999999999, -2.25, 1.5, -1.35], "top_z": 0.53}, "B": {"aabb": [1.7500000000000002, 1.7, 2.6500000000000004, 2.3], "top_z": 0.53}}, "room": [-4.4, 4.4, -3.25, 4.75]}, "manipulation_success": true, "judge": {"ok": true, "reason": "", "numbers": {"bottom_shift_m": 3.519887694875438e-07, "bottom_max_shift_m": 3.529733909687117e-07, "bottom_lift_m": 2.6425703847365867e-09, "top_z_over_table_b": 0.018544759275542444, "top_to_zone_m": 0.08744258452985204, "hand_to_top_m": 0.27884293423703893, "bridge_active": 0.0}}, "full_success": true, "failure_reason": null, "fail_class": null, "material_loss_during_transport": 0.0, "grasp_mode": "attach_bridge", "ticks": 4374, "control_steps": 3920, "attach_events": [{"event": "attach", "at_tick": 1511, "opening_m": 0.005413882900029421, "nearest_particle_m": 0.001990173303665253, "bound": true}, {"event": "release", "at_tick": 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