add N023/go2_arm/dr_on/seed_6032

N023/go2_arm/dr_on/seed_6032/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 pen, pull the cap off its tip, and push the cap onto the other end of the pen.'; expected 'Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1047 rows vs ceil(2094/2) = 1047"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 31..2123, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "35.86 MB, 1047 frames at 25 fps, mean luma 72..137, std 33, new picture 1046x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1047 vs 1047"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "13.60 MB, 1047 frames at 25 fps, mean luma 69..177, std 32, new picture 1046x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1047 vs 1047"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "stationassembly/000/sim_info"
+  }
+ }
+}

N023/go2_arm/dr_on/seed_6032/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/sz850_atomic/n023_go2_on_6032/out  task=N023  at verify_collect_dataset.py
+dataset root /mnt/scratch/sz850_atomic/n023_go2_on_6032/out/stationassembly/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1047  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: 1047 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 pen, pull the cap off its tip, and push the cap onto the other end of the pen.'; expected 'Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen.'
+rows 1047 at dataset fps 25 = 41.88 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1047 rows vs ceil(2094/2) = 1047
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..2123, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 35.86 MB, 1047 frames at 25 fps, mean luma 72..137, std 33, new picture 1046x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1047 vs 1047
+[PASS] video observation.images.wrist decodes, 640x480, not black: 13.60 MB, 1047 frames at 25 fps, mean luma 69..177, std 32, new picture 1046x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1047 vs 1047
+parquet size 9.74 MB
+[PASS] sim_info present: stationassembly/000/sim_info
+dataset size 59.43 MB; whole cell dir 60.4 MB
+RESULT: ALL PASS

N023/go2_arm/dr_on/seed_6032/report.json

@@ -0,0 +1,1455 @@
+{
+  "task": "N023",
+  "agent_id": null,
+  "embodiment": "go2_arm",
+  "level": "easy",
+  "scene_seed": 6032,
+  "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)",
+  "config": "/mnt/scratch/sz850_cache/MagicSim4_b3820fd82e/src/magicsim/Collect/Task/MobileAssembly/Conf/n023_pen_cap.yaml",
+  "full_success": true,
+  "failure_reason": null,
+  "dr": {
+    "seed": 6032,
+    "pen_cap": {
+      "dx": -0.0417,
+      "dy": -0.04915,
+      "yaw_deg": 4.23887
+    },
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+      "env.scene.objects.cap.cap_1.physics.mass": 0.02342,
+      "env.scene.background.intensity": [
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+      "env.robot.RidgebackSawyerUmi.common.pos": [
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+  },
+  "planner_seeds": {
+    "label": "lean",
+    "num_trajopt_seeds": 1,
+    "num_ik_seeds": 4,
+    "max_attempts": 6
+  },
+  "collect": {
+    "task": "N023",
+    "robot": "go2_arm",
+    "visual_dr": true,
+    "env": {
+      "MMB_COLLECT": "1",
+      "MMB_TASK_ID": "N023",
+      "MMB_CLEAN_VIEW": "1",
+      "MMB_REAL_ROBOT_LOOK": "1",
+      "MMB_VISUAL_DR": "1"
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+    "resolution": [
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+    "camera_hz": 25,
+    "record": {
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+        "sim_info"
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+      "clear_buffer_on_failure": true,
+      "lerobot": {
+        "subsample_every": 2
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+  },
+  "steps": 2124,
+  "task_id": "N023",
+  "task_version": "EXT60-MobileAvatar-v3",
+  "family_id": "cap_transfer",
+  "primary_category": "C4",
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N023/go2_arm/dr_on/seed_6032/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,564 @@
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+     "arm_layout": null,
+     "mobile": true,
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+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 853.74398,
+    "ambient": "dim"
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+   "effects": [],
+   "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the gray table A. There are a large gray table A, a small pen holder and a small cap. The gray table A is in front of the pen holder. The pen holder is to the right of the cap. The cap is to the left of the pen holder. The scene is viewed from front-right, at table height.",
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+   "instruction": "Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5707963267948966,
+    "support": null
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+   "generic_instruction": "Stationassembly the 1.5707963267948966.",
+   "task_id": "N023",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {
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+    "frame_idx": 607,
+    "caption": "Computing a grasp pose for the small cap; the right gripper is below and to the left of and in front of the cap.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
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+   "frame_0658": {
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+    "caption": "Working on the small cap; the right gripper is below and to the left of and in front of the cap.",
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+    "phase": "walk",
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+     "in_front_of"
+    ]
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+    "frame_idx": 1297,
+    "caption": "Working on the small cap; the right gripper is below the cap.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1440": {
+    "frame_idx": 1440,
+    "caption": "Done — the small cap is grasped; the right gripper is below the cap.",
+    "skill": "Grasp",
+    "phase": "completed",
+    "skill_state": "finished",
+    "planner": "ParallelGripper",
+    "planner_state": "finished",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1441": {
+    "frame_idx": 1441,
+    "caption": "Working on the small cap; the right gripper is below the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:start",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1491": {
+    "frame_idx": 1491,
+    "caption": "Working on the small cap; the right gripper is below and to the right of the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:pull",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of"
+    ]
+   },
+   "frame_1658": {
+    "frame_idx": 1658,
+    "caption": "Working on the small cap; the right gripper is below the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:over_tail",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1719": {
+    "frame_idx": 1719,
+    "caption": "Working on the small cap; the right gripper is below and to the left of the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:over_tail",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of"
+    ]
+   },
+   "frame_1758": {
+    "frame_idx": 1758,
+    "caption": "Working on the small cap; the right gripper is below and to the left of and behind the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:over_tail",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "behind"
+    ]
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+ },
+ "depth_range": [
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+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N023/go2_arm/dr_on/seed_6032/stationassembly/000/lerobot_v21/meta/info.json

@@ -0,0 +1,287 @@
+{
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+                "eef0.quat_x",
+                "eef0.quat_y",
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+                "go2_FR_hip_joint",
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+                "go2_FL_thigh_joint",
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+}

N023/go2_arm/dr_on/seed_6032/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,290 @@
+{
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+    },
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N023/go2_arm/dr_on/seed_6032/stationassembly/000/lerobot_v21/meta/tasks.jsonl

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N023/go2_arm/dr_on/seed_6032/stationassembly/000/run_meta.json

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N023/go2_arm/dr_on/seed_6032/stationassembly/000/sim_info/0/sim_states.npz

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+}