diff --git a/N025/go2_arm/dr_off/seed_1043/check.json b/N025/go2_arm/dr_off/seed_1043/check.json new file mode 100644 index 0000000000000000000000000000000000000000..77752f067d86672ec91797c8f23ee74420a8b6f6 --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1043/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2180 rows vs ceil(4359/2) = 2180" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..4389, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "24.21 MB, 2180 frames at 25 fps, mean luma 111..142, std 24, new picture 2179x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2180 vs 2180" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "35.14 MB, 2180 frames at 25 fps, mean luma 113..169, std 30, new picture 2179x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2180 vs 2180" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N025/go2_arm/dr_off/seed_1043/check.txt b/N025/go2_arm/dr_off/seed_1043/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..fa35610c2ff72d223048c5b54b329d5503f75f14 --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1043/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_go2_off_1043_r1/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_go2_off_1043_r1/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2180 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: 2180 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.' +rows 2180 at dataset fps 25 = 87.20 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2180 rows vs ceil(4359/2) = 2180 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..4389, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 24.21 MB, 2180 frames at 25 fps, mean luma 111..142, std 24, new picture 2179x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2180 vs 2180 +[PASS] video observation.images.wrist decodes, 640x480, not black: 35.14 MB, 2180 frames at 25 fps, mean luma 113..169, std 30, new picture 2179x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2180 vs 2180 +parquet size 31.74 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 91.33 MB; whole cell dir 93.1 MB +RESULT: ALL PASS diff --git a/N025/go2_arm/dr_off/seed_1043/report.json b/N025/go2_arm/dr_off/seed_1043/report.json new file mode 100644 index 0000000000000000000000000000000000000000..bddc3df444ab351d28eb0517c0dca6481936752c --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1043/report.json @@ -0,0 +1,2399 @@ +{ + "task": "N025", + "agent_id": null, + "embodiment": "go2_arm", + "level": "easy", + "scene_seed": 1043, + "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)", + "config": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/src/magicsim/Collect/Task/MobileAssembly/Conf/n025_wedge_shim.yaml", + "full_success": true, + "failure_reason": null, + "dr": { + "seed": 1043, + "wedge": { + "dx": 0.06845, + "dy": -0.04109, + "yaw_deg": -0.81411 + }, + "shim_board": { + "dx": 0.04167, + "dy": 0.02262, + "yaw_deg": -4.1445 + }, + "wedge_mass": 0.02128, + "light": 1035.3644, + "spawn": { + "dx": 0.06178, + "dy": 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produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 12, + "nan_policy": "from_raw", + "segments": [ + { + "name": "Go2Plus.base_action", + "start": 0, + "end": 4, + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3" + ], + "source": "Go2UnifiedLocomotionAction", + "names_source": "fallback" + }, + { + "name": "Go2Plus.arm_action", + "start": 4, + "end": 11, + "names": [ + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z" + ], + "source": "Go2PlusCuroboIKAction", + "names_source": "pose_layout" + }, + { + "name": "Go2Plus.eef_action", + "start": 11, + "end": 12, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 26, + "segments": [ + { + "name": "Go2Plus.joint_pos", + "start": 0, + "end": 24, + "names": [ + "joint_0", + "joint_1", + "joint_2", + 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b/N025/go2_arm/dr_on/seed_2040/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1803 rows vs ceil(3606/2) = 1803" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..3635, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "52.99 MB, 1803 frames at 25 fps, mean luma 56..105, std 51, new picture 1802x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1803 vs 1803" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "55.09 MB, 1803 frames at 25 fps, mean luma 91..156, std 32, new picture 1802x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1803 vs 1803" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N025/go2_arm/dr_on/seed_2040/check.txt b/N025/go2_arm/dr_on/seed_2040/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..b435a0c3fe3c930d5d628a4bc994ce98ff0294de --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2040/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_go2_on_2040/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_go2_on_2040/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1803 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: 1803 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.' +rows 1803 at dataset fps 25 = 72.12 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1803 rows vs ceil(3606/2) = 1803 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..3635, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 52.99 MB, 1803 frames at 25 fps, mean luma 56..105, std 51, new picture 1802x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1803 vs 1803 +[PASS] video observation.images.wrist decodes, 640x480, not black: 55.09 MB, 1803 frames at 25 fps, mean luma 91..156, std 32, new picture 1802x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1803 vs 1803 +parquet size 20.02 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 128.35 MB; whole cell dir 129.9 MB +RESULT: ALL PASS diff --git a/N025/go2_arm/dr_on/seed_2040/report.json b/N025/go2_arm/dr_on/seed_2040/report.json new file mode 100644 index 0000000000000000000000000000000000000000..29c6d3d79673fb87cee2d22c03a4bf60ef31650c --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2040/report.json @@ -0,0 +1,2219 @@ +{ + "task": "N025", + "agent_id": null, + "embodiment": "go2_arm", + "level": "easy", + "scene_seed": 2040, + "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)", + "config": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/src/magicsim/Collect/Task/MobileAssembly/Conf/n025_wedge_shim.yaml", + "full_success": true, + "failure_reason": null, + "dr": { + "seed": 2040, + "wedge": { + "dx": -0.03418, + "dy": -0.02796, + "yaw_deg": 8.07595 + }, + "shim_board": { + "dx": -0.05581, + "dy": -0.03422, + "yaw_deg": 4.83912 + }, + "wedge_mass": 0.02215, + "light": 1176.64314, + "spawn": { + "dx": -0.02739, + "dy": -0.11641, + "yaw_deg": 12.41577 + }, + "overrides": { + "env.scene.objects.wedge.common.pos": [ + -2.03418, + 1.37204, + 0.431 + ], + "env.scene.objects.wedge.common.ori": [ + 0.0, + 0.0, + 98.07595 + ], + 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file diff --git a/N025/go2_arm/dr_on/seed_2040/stationassembly/000/sim_info/0/actions.npz b/N025/go2_arm/dr_on/seed_2040/stationassembly/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..219af0ddcea5f691132b6e64bc734dac99094d38 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2040/stationassembly/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f22d3a8d43a666b43d9b3ab39f96b688f04e102d585aa63fc6471ccb9dba5b7 +size 680245 diff --git a/N025/go2_arm/dr_on/seed_2040/stationassembly/000/sim_info/0/device_commands.jsonl b/N025/go2_arm/dr_on/seed_2040/stationassembly/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N025/go2_arm/dr_on/seed_2040/stationassembly/000/sim_info/0/device_events.jsonl b/N025/go2_arm/dr_on/seed_2040/stationassembly/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N025/go2_arm/dr_on/seed_2040/stationassembly/000/sim_info/0/scene_snapshot.json b/N025/go2_arm/dr_on/seed_2040/stationassembly/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..e01bfab7bcb3e69ac089ff6217c5c645be977492 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2040/stationassembly/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,348 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationassembly/000", + "task_type": "StationAssembly", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has 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"go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 12, + "nan_policy": "from_raw", + "segments": [ + { + "name": "Go2Plus.base_action", + "start": 0, + "end": 4, + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3" + ], + "source": "Go2UnifiedLocomotionAction", + "names_source": "fallback" + }, + { + "name": "Go2Plus.arm_action", + "start": 4, 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"/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Material", + "pool_sizes": { + "ground": 42, + "wall": 28, + "furniture": 38, + "object": 54 + } + }, + "no_swap": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "reason": "glass", + "bound_prims": 1 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "reason": "emissive", + "bound_prims": 1 + } + ], + "unsupported": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "mdl": "OmniGlass.mdl", + "bound_prims": 1 + } + ] + } + ] +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_off/seed_1035/check.json b/N025/sawyer_umi/dr_off/seed_1035/check.json new file mode 100644 index 0000000000000000000000000000000000000000..f0d3e732f34e880829654f4da4635baee7a5b149 --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1035/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1358 rows vs ceil(2716/2) = 1358" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..2745, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "14.46 MB, 1358 frames at 25 fps, mean luma 90..146, std 37, new picture 1357x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1358 vs 1358" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "23.95 MB, 1358 frames at 25 fps, mean luma 96..157, std 41, new picture 1357x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1358 vs 1358" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_off/seed_1035/check.txt b/N025/sawyer_umi/dr_off/seed_1035/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..301268f4fe4da1e9e4c743b8b7cbe192fbfd8641 --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1035/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_saw_off_1035/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_saw_off_1035/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1358 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: 1358 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.' +rows 1358 at dataset fps 25 = 54.32 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1358 rows vs ceil(2716/2) = 1358 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..2745, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 14.46 MB, 1358 frames at 25 fps, mean luma 90..146, std 37, new picture 1357x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1358 vs 1358 +[PASS] video observation.images.wrist decodes, 640x480, not black: 23.95 MB, 1358 frames at 25 fps, mean luma 96..157, std 41, new picture 1357x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1358 vs 1358 +parquet size 2.03 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 40.62 MB; whole cell dir 41.5 MB +RESULT: ALL PASS diff --git a/N025/sawyer_umi/dr_off/seed_1035/report.json b/N025/sawyer_umi/dr_off/seed_1035/report.json new file mode 100644 index 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There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is to the left of the wedge. The gray table B is to the right of the shim board. The shim board is on top of the gray table B. The shim board is to the left of the gray table B. The wedge is on top of the gray table A. The wedge is to the right of the gray table A. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [shim board]\n\n\n\n[t[wedge]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationAssembly", + "instruction": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.", + "template_id": -1, + "slots": { + "obj": 1.5707963267948966, + "support": null + }, + "generic_instruction": "Stationassembly the 1.5707963267948966.", + "task_id": "N025", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0653": { + "frame_idx": 653, + "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + 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}, + "CarryPose": { + "robot_id": 0, + "hand_id": 0, + "carry_part_pos": [ + 0.62, + 0.0, + 0.5 + ], + "planner_mode": 1 + }, + "AssemblyInsert": { + "plan_mode": 1, + "max_lin": 0.002, + "max_rot_deg": 1.0, + "settle_ticks": 3, + "servo_max_steps": 600, + "lateral_gate": 0.002, + "stall_ticks": 60, + "stall_min_progress": 0.8, + "carry_lost": 0.25, + "open_value": 0.0 + } + }, + "auto_collect": { + "task_type": "assembly", + "max_trajectories": 1 + }, + "record": { + "output_dir": "/mnt/scratch/xc536_atomic/n025_saw_off_1035/out", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "visual_dr": { + "keep": [ + "wedge", + "shim_board" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_off/seed_1035/stationassembly/000/sim_info/0/actions.npz 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0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N025/sawyer_umi/dr_off/seed_1035/stationassembly/000/sim_info/0/scene_snapshot.json b/N025/sawyer_umi/dr_off/seed_1035/stationassembly/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..65d0cfbb9d52d981793aabdda3fce343bafe175e --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1035/stationassembly/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,334 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationassembly/000", + "task_type": "StationAssembly", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -2.0, + 1.5, + 0.23 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.78, + 0.72, + 0.62 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + } + }, + "type_specific": {} + } + ], + "table_B": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.2, + 3.0, + 0.23 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.62, + 0.72, + 0.78 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + } + }, + "type_specific": {} + } + ], + "shim_board": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MobileAssembly/shim_board_a05/Object.usd", + "pose": { + "pos": [ + 1.2453299760818481, + 3.1423499584198, + 0.4300000071525574 + ], + "ori": [ + -0.7059535980224609, + 0.0, + 0.0, + 0.7082580924034119 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "collision": true, + "fixed_base": true, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.05235988274216652 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "wedge": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MobileAssembly/wedge_a05/Object.usd", + "pose": { + "pos": [ + -1.9506901502609253, + 1.355180025100708, + 0.4300000071525574 + ], + "ori": [ + 0.6885226368904114, + -3.688037395477295e-07, + 4.023313522338867e-07, + 0.7252147197723389 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.03346, + "physics_material": { + "static_friction": 0.8, + "dynamic_friction": 0.7, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -0.00010000397742260247, + -2.8588513032445917e-06, + -1.7431797459721565e-05 + ], + "angular_velocity": [ + 0.0001767689100233838, + -0.0037004866171628237, + -6.453783862525597e-05 + ] + } + } + ] + } + ], + "artifacts": [ + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1150.59443, + "texture": null, + "color": [ + 0.85, + 0.85, + 0.85 + ] + } + } + }, + "robots": { + "RidgebackSawyerUmi": { + "root_pose": [ + [ + -3.5250799655914307, + -2.642169952392578, + 0.05999999865889549, + 0.9235498309135437, + 0.0, + 0.0, + 0.38347846269607544 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.600000023841858, + 0.0, + 0.5, + 0.0, + 2.700000047683716, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "head": [ + [ + 0.21660000085830688, + 0.0, + -0.04500000178813934, + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + ], + "wrist": [ + [ + 0.05979999899864197, + 0.0, + 0.029999999329447746, + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_off/seed_1035/stationassembly/000/sim_info/0/sim_states.npz b/N025/sawyer_umi/dr_off/seed_1035/stationassembly/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..cc8013e467adc072b535d81871ef13b3a957429c --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1035/stationassembly/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad4fefbd3580ce4e3343fcc9f15396f923cd21584a52f89f05ff756837606184 +size 379750 diff --git a/N025/sawyer_umi/dr_off/seed_1035/stationassembly/000/sim_info/magicsim_manifest.json b/N025/sawyer_umi/dr_off/seed_1035/stationassembly/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..0c3974cd1673c32e5d93aee7524e4a17eec993a5 --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1035/stationassembly/000/sim_info/magicsim_manifest.json @@ -0,0 +1,233 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 06:56:29" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_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" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "RidgebackSawyerUmi.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HolonomicAction", + "names_source": "_joint_names" + }, + { + "name": "RidgebackSawyerUmi.arm_action", + "start": 3, + "end": 10, + "names": [ + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z" + ], + "source": "PinkInverseKinematicsAction", + "names_source": "pink_layout" + }, + { + "name": "RidgebackSawyerUmi.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_pos", + "start": 0, + "end": 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" + ], + "source": "ObservationManager", + "names_source": "joint_names" + }, + { + "name": "RidgebackSawyerUmi.gripper_pos", + "start": 13, + "end": 15, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 13, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_vel", + "start": 0, + "end": 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" + ], + "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": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.21660000085830688, + 0.0, + -0.04500000178813934 + ], + "quat": [ + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.05979999899864197, + 0.0, + 0.029999999329447746 + ], + "quat": [ + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + } + }, + "generated_run": { + "run_id": "stationassembly/000", + "task_type": "StationAssembly" + } +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_on/seed_2035/check.json b/N025/sawyer_umi/dr_on/seed_2035/check.json new file mode 100644 index 0000000000000000000000000000000000000000..923f0a28a0a5c8a6a49918fc1476ac3403801d56 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2035/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1370 rows vs ceil(2740/2) = 1370" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..2769, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "33.60 MB, 1370 frames at 25 fps, mean luma 67..109, std 49, new picture 1369x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1370 vs 1370" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "32.21 MB, 1370 frames at 25 fps, mean luma 76..164, std 38, new picture 1369x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1370 vs 1370" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_on/seed_2035/check.txt b/N025/sawyer_umi/dr_on/seed_2035/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..4f3431193b32200b1ab5bd1e318814c4a17b8393 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2035/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_saw_on_2035/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_saw_on_2035/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1370 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: 1370 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.' +rows 1370 at dataset fps 25 = 54.80 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1370 rows vs ceil(2740/2) = 1370 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..2769, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 33.60 MB, 1370 frames at 25 fps, mean luma 67..109, std 49, new picture 1369x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1370 vs 1370 +[PASS] video observation.images.wrist decodes, 640x480, not black: 32.21 MB, 1370 frames at 25 fps, mean luma 76..164, std 38, new picture 1369x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1370 vs 1370 +parquet size 2.04 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 68.02 MB; whole cell dir 68.9 MB +RESULT: ALL PASS diff --git a/N025/sawyer_umi/dr_on/seed_2035/report.json b/N025/sawyer_umi/dr_on/seed_2035/report.json new file mode 100644 index 0000000000000000000000000000000000000000..a840df6d840021e7c1751e0876bad6bd99d1462d --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2035/report.json @@ -0,0 +1,1780 @@ +{ + "task": "N025", + "agent_id": null, + "embodiment": "sawyer_umi", + "level": "easy", + "scene_seed": 2035, + "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)", + "config": 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There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table B is to the right of the shim board. The shim board is on top of the gray table B. The shim board is to the left of the gray table B. The wedge is on top of the gray table A. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [shim board]\n\n\n\n[wedge]A]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationAssembly", + "instruction": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.", + "template_id": -1, + "slots": { + "obj": 1.5707963267948966, + "support": null + }, + "generic_instruction": "Stationassembly the 1.5707963267948966.", + "task_id": "N025", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0652": { + "frame_idx": 652, + "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + 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"frame_2251": { + "frame_idx": 2251, + "caption": "Working on the medium shim board; the right gripper is below and to the left of and in front of the shim board.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2461": { + "frame_idx": 2461, + "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2464": { + "frame_idx": 2464, + "caption": "Working on the small wedge; the right gripper is below and to the left of and behind the wedge.", + 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"/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Material", + "pool_sizes": { + "ground": 42, + "wall": 28, + "furniture": 38, + "object": 54 + } + }, + "no_swap": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "reason": "glass", + "bound_prims": 1 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "reason": "emissive", + "bound_prims": 1 + } + ], + "unsupported": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "mdl": "OmniGlass.mdl", + "bound_prims": 1 + } + ] + } + ] +} \ No newline at end of file diff --git a/N025/stretch3/dr_off/seed_1037/check.json b/N025/stretch3/dr_off/seed_1037/check.json new file mode 100644 index 0000000000000000000000000000000000000000..02964e428081bc0f8d8fb793893318008417eff4 --- /dev/null +++ b/N025/stretch3/dr_off/seed_1037/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 table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2373 rows vs ceil(4745/2) = 2373" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..4775, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "21.36 MB, 2373 frames at 25 fps, mean luma 109..148, std 16, new picture 2372x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2373 vs 2373" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "41.92 MB, 2373 frames at 25 fps, mean luma 124..168, std 30, new picture 2372x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2373 vs 2373" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N025/stretch3/dr_off/seed_1037/check.txt b/N025/stretch3/dr_off/seed_1037/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..fb5612cbdd4476f08a74e34818aaf3123d30c175 --- /dev/null +++ b/N025/stretch3/dr_off/seed_1037/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_str_off_1037/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_str_off_1037/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2373 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: 2373 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 table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.' +rows 2373 at dataset fps 25 = 94.92 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2373 rows vs ceil(4745/2) = 2373 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..4775, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 21.36 MB, 2373 frames at 25 fps, mean luma 109..148, std 16, new picture 2372x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2373 vs 2373 +[PASS] video observation.images.wrist decodes, 640x480, not black: 41.92 MB, 2373 frames at 25 fps, mean luma 124..168, std 30, new picture 2372x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2373 vs 2373 +parquet size 2.79 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 66.28 MB; whole cell dir 67.7 MB +RESULT: ALL PASS diff --git a/N025/stretch3/dr_off/seed_1037/report.json b/N025/stretch3/dr_off/seed_1037/report.json new file mode 100644 index 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There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is in front of the wedge. The gray table B is to the right of the shim board. The shim board is on top of the gray table B. The shim board is to the left of the gray table B. The wedge is on top of the gray table A. The wedge is behind the gray table A. The scene is viewed from front-right, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [shim board]\n\n\n[wedge]A]\n\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationAssembly", + "instruction": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.", + "template_id": -1, + "slots": { + "obj": 3.141592653589793, + "support": null + }, + "generic_instruction": "Stationassembly the 3.141592653589793.", + "task_id": "N025", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_1662": { + "frame_idx": 1662, + "caption": "Computing a grasp pose for the small wedge; the right gripper is below and in front of the wedge.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavToTrim", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + 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"verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "right_of", + "in_front_of" + ] + }, + "frame_1743": { + "frame_idx": 1743, + "caption": "Working on the small wedge; the right gripper is below and to the right of and in front of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "right_of", + "in_front_of" + ] + }, + "frame_1958": { + "frame_idx": 1958, + "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_1993": { + "frame_idx": 1993, + "caption": "Working on the small wedge; the right gripper is below the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_2113": { + "frame_idx": 2113, + "caption": "Working on the small wedge.", + "skill": "AssemblyGrasp", + "phase": "grasp", + "skill_state": "running", + "planner": "AssemblyServoL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [] + }, + "frame_2179": { + "frame_idx": 2179, + "caption": "Working on the small wedge; the right gripper is below the wedge.", + "skill": "AssemblyGrasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_2228": { + "frame_idx": 2228, + "caption": "Done — the small wedge is grasped; the right gripper is below the wedge.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_2229": { + "frame_idx": 2229, + "caption": "Working on the small wedge; the right gripper is below the wedge.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_2255": { + "frame_idx": 2255, + "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_2270": { + "frame_idx": 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+ "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "HelloRobot.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HelloRobotBaseAction", + "names_source": "_joint_names" + }, + { + "name": "HelloRobot.arm_action", + "start": 3, + "end": 10, + "names": [ + "arm_action_0", + "arm_action_1", + "arm_action_2", + "arm_action_3", + "arm_action_4", + "arm_action_5", + "arm_action_6" + ], + "source": "HelloRobotIKAction", + "names_source": "fallback" + }, + { + "name": "HelloRobot.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + 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1.2957229614257812 + ], + "quat": [ + -0.6254264116287231, + -0.3299117982387543, + 0.32990962266921997, + 0.6254276037216187 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 426.91786449658065, + 0.0, + 320.0 + ], + [ + 0.0, + 426.9178503597538, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 73.70742419505024, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.008999999612569809, + 0.06293900310993195, + 0.056398000568151474 + ], + "quat": [ + -1.5083966786733072e-07, + 1.7244702803509426e-06, + 0.9961962699890137, + 0.08713743835687637 + ] + } + }, + "generated_run": { + "run_id": "stationassembly/000", + "task_type": "StationAssembly" + } +} \ No newline at end of file diff --git a/N025/stretch3/dr_off/seed_1038/check.json b/N025/stretch3/dr_off/seed_1038/check.json new file mode 100644 index 0000000000000000000000000000000000000000..40236f570532a498b7c977031c6324fcbb8ef7f4 --- /dev/null +++ b/N025/stretch3/dr_off/seed_1038/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 table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2906 rows vs ceil(5812/2) = 2906" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..5841, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "24.33 MB, 2906 frames at 25 fps, mean luma 109..150, std 15, new picture 2905x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2906 vs 2906" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "56.32 MB, 2906 frames at 25 fps, mean luma 124..168, std 30, new picture 2905x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2906 vs 2906" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N025/stretch3/dr_off/seed_1038/check.txt b/N025/stretch3/dr_off/seed_1038/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..66bec54076a1bec1626689ca528d0d8f4cbc79b6 --- /dev/null +++ b/N025/stretch3/dr_off/seed_1038/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_str_off_1038/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_str_off_1038/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2906 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: 2906 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 table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.' +rows 2906 at dataset fps 25 = 116.24 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2906 rows vs ceil(5812/2) = 2906 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..5841, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 24.33 MB, 2906 frames at 25 fps, mean luma 109..150, std 15, new picture 2905x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2906 vs 2906 +[PASS] video observation.images.wrist decodes, 640x480, not black: 56.32 MB, 2906 frames at 25 fps, mean luma 124..168, std 30, new picture 2905x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2906 vs 2906 +parquet size 3.19 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 84.04 MB; whole cell dir 85.6 MB +RESULT: ALL PASS diff --git a/N025/stretch3/dr_off/seed_1038/report.json b/N025/stretch3/dr_off/seed_1038/report.json new file mode 100644 index 0000000000000000000000000000000000000000..464655e6eb689ca0d4d7d94cda81d3b21575d96b --- /dev/null +++ b/N025/stretch3/dr_off/seed_1038/report.json @@ -0,0 +1,2904 @@ +{ + "task": "N025", + "agent_id": null, + "embodiment": "stretch3", + "level": "easy", + "scene_seed": 1038, + "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)", + "config": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/src/magicsim/Collect/Task/MobileAssembly/Conf/n025_wedge_shim.yaml", + "full_success": true, + "failure_reason": null, + "dr": { + "seed": 1038, + "wedge": { + "dx": 0.01125, + "dy": -0.03643, + "yaw_deg": -4.90026 + }, + "shim_board": { + "dx": -0.07473, + "dy": -0.0285, + "yaw_deg": -3.71868 + }, + "wedge_mass": 0.02653, + "light": 1142.47493, + "spawn": { + "dx": -0.07836, + 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"pos_robot": [ + 4.361426184911064, + -1.1575846787885418, + 1.2357225985326774 + ], + "viewpoint": "front, slightly above table height", + "extrinsics": { + "R": [ + [ + -5.56468016110756e-08, + -0.9999999999938459, + -3.5078881838734866e-06 + ], + [ + 0.5646357088821415, + -2.9266214562895243e-06, + 0.825340242716055 + ], + [ + -0.825340242721242, + -1.9347513867118415e-06, + 0.5646357088788294 + ] + ], + "t": [ + -0.0029374520292166934, + -1.0975147957833271, + -0.6905334495545234 + ] + } + }, + { + "name": "wrist", + "intrinsics": { + "K": [ + [ + 426.91786449658065, + 0.0, + 320.0 + ], + [ + 0.0, + 426.9178503597538, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 73.70742419505024, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 4.384598924221509, + -1.0836549882283861, + -0.0036023647585420437 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + -0.9999999999940066, + 3.409534356899787e-06, + 6.01063709654693e-07 + ], + [ + 3.46210948901734e-06, + 0.9848141327789798, + 0.1736119922897026 + ], + [ + 1.651305908443882e-14, + 0.1736119922907431, + -0.9848141327848816 + ] + ], + "t": [ + 0.008999751121030937, + -0.07177462016445776, + 0.044614582297616646 + ] + } + } + ], + "robots": [ + { + "name": "HelloRobot", + "model": "hellorobot", + "type": "mobilemanip", + "noun": "Hello Robot Stretch 3 mobile manipulator", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.67836, + -2.5452, + 0.06 + ], + "ori": [ + 0.9095240831375122, + 0.0, + 0.0, + 0.41565123200416565 + ] + }, + "facing_yaw_deg": 49.120668795070365, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1142.47493, + "ambient": "dim" + }, + "effects": [], + "caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is to the left of the wedge. The gray table B is to the right of the shim board. The shim board is on top of the gray table B. The shim board is to the left of the gray table B. The wedge is on top of the gray table A. The wedge is to the right of the gray table A. The scene is viewed from front, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [shim board]\n\n\n\n[t[wedge]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationAssembly", + "instruction": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.", + "template_id": -1, + "slots": { + "obj": 3.141592653589793, + "support": null + }, + "generic_instruction": "Stationassembly the 3.141592653589793.", + "task_id": "N025", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_1675": { + "frame_idx": 1675, + "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavToTrim", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1677": { + "frame_idx": 1677, + "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1748": { + "frame_idx": 1748, + "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1752": { + "frame_idx": 1752, + "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1810": { + "frame_idx": 1810, + "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_1843": { + "frame_idx": 1843, + "caption": "Working on the small wedge; the right gripper is below and to the right of and in front of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "right_of", + "in_front_of" + ] + }, + "frame_2010": { + "frame_idx": 2010, + "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_2017": { + "frame_idx": 2017, + "caption": "Working on the small wedge; the right gripper is below the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_2971": { + "frame_idx": 2971, + "caption": "The skill for the small wedge could not be planned; the right gripper is below the wedge.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "failed", + "planner": "AssemblyServoL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_2972": { + "frame_idx": 2972, + "caption": "Computing a grasp pose for the small wedge; the right gripper is below the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "computing", + "planner": "AssemblyServoL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_2973": { + "frame_idx": 2973, + "caption": "Working on the small wedge; the right gripper is below the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_3182": { + "frame_idx": 3182, + "caption": "Working on the small wedge.", + "skill": "AssemblyGrasp", + "phase": "grasp", + "skill_state": "running", + "planner": "AssemblyServoL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [] + }, + "frame_3247": { + "frame_idx": 3247, + "caption": "Working on the small wedge; the right gripper is below the wedge.", + "skill": "AssemblyGrasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_3296": { + "frame_idx": 3296, + "caption": "Done — the small wedge is grasped; the right gripper is below the wedge.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_3297": { + "frame_idx": 3297, + "caption": "Working on the small wedge; the right gripper is below the wedge.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_3330": { + "frame_idx": 3330, + "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_3331": { + "frame_idx": 3331, + "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_5297": { + "frame_idx": 5297, + "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavToTrim", + "planner_state": "finished", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_5298": { + "frame_idx": 5298, + "caption": "Working on the medium shim board; the right gripper is below and to the left of and in front of the shim board.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_5419": { + "frame_idx": 5419, + "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_5422": { + "frame_idx": 5422, + "caption": "Working on the small wedge; the right gripper is below and to the left of and behind the wedge.", + "skill": "AssemblyInsert", + "phase": "wp:pre_insert", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "behind" + ] + }, + "frame_5553": { + "frame_idx": 5553, + "caption": "Working on the small wedge; the right gripper is to the left of and behind the wedge.", + "skill": "AssemblyInsert", + "phase": "wp:align", + "skill_state": "running", + "planner": "AssemblyServoL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "left_of", + "behind" + ] + }, + "frame_5759": { + "frame_idx": 5759, + "caption": "Working on the small wedge; the 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+ "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "arm_action_0", + "arm_action_1", + "arm_action_2", + "arm_action_3", + "arm_action_4", + "arm_action_5", + "arm_action_6", + "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", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + 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b/N025/stretch3/dr_off/seed_1038/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 06:56:35" + }, + "embodiment": { + "robots": [ + { + "name": "HelloRobot", + "cfg": "HelloRobotCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": 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{ + "name": "HelloRobot.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HelloRobotBaseAction", + "names_source": "_joint_names" + }, + { + "name": "HelloRobot.arm_action", + "start": 3, + "end": 10, + "names": [ + "arm_action_0", + "arm_action_1", + "arm_action_2", + "arm_action_3", + "arm_action_4", + "arm_action_5", + "arm_action_6" + ], + "source": "HelloRobotIKAction", + "names_source": "fallback" + }, + { + "name": "HelloRobot.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "HelloRobot.joint_pos", + "start": 0, + "end": 15, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "joint_vel_layout": { + "dim": 15, + "segments": [ + { + "name": "HelloRobot.joint_vel", + "start": 0, + "end": 15, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 811.3606627541883, + 0.0, + 320.0 + ], + [ + 0.0, + 811.3606388722814, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 43.048473468183616, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.04977099969983101, + -0.002942000050097704, + 1.2957229614257812 + ], + "quat": [ + -0.6254264116287231, + -0.3299117982387543, + 0.32990962266921997, + 0.6254276037216187 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 426.91786449658065, + 0.0, + 320.0 + ], + [ + 0.0, + 426.9178503597538, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 73.70742419505024, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.008999999612569809, + 0.06293900310993195, + 0.056398000568151474 + ], + "quat": [ + -1.5083966786733072e-07, + 1.7244702803509426e-06, + 0.9961962699890137, + 0.08713743835687637 + ] + } + }, + "generated_run": { + "run_id": "stationassembly/000", + "task_type": "StationAssembly" + } +} \ No newline at end of file diff --git a/N032/go2_arm/dr_off/seed_1035/check.json b/N032/go2_arm/dr_off/seed_1035/check.json new file mode 100644 index 0000000000000000000000000000000000000000..4626056e2ca21a3873e0b3d74fa31df1d732dd15 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1035/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1712 rows vs ceil(3423/2) = 1712" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..3523, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "15.20 MB, 1712 frames at 25 fps, mean luma 100..141, std 28, new picture 1711x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1712 vs 1712" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "30.76 MB, 1712 frames at 25 fps, mean luma 100..175, std 29, new picture 1711x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1712 vs 1712" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationpuzzle/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N032/go2_arm/dr_off/seed_1035/check.txt b/N032/go2_arm/dr_off/seed_1035/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..59cbe6a8c137b244fda1cf931e76ff0a25353d2d --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1035/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_go2_off_1035/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_go2_off_1035/out/rec/stationpuzzle/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1712 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: 1712 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.' +rows 1712 at dataset fps 25 = 68.48 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1712 rows vs ceil(3423/2) = 1712 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..3523, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 15.20 MB, 1712 frames at 25 fps, mean luma 100..141, std 28, new picture 1711x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1712 vs 1712 +[PASS] video observation.images.wrist decodes, 640x480, not black: 30.76 MB, 1712 frames at 25 fps, mean luma 100..175, std 29, new picture 1711x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1712 vs 1712 +parquet size 6.39 MB +[PASS] sim_info present: rec/stationpuzzle/000/sim_info +dataset size 52.62 MB; whole cell dir 54.5 MB +RESULT: ALL PASS diff --git a/N032/go2_arm/dr_off/seed_1035/rec/stationpuzzle/000/completed/0.json b/N032/go2_arm/dr_off/seed_1035/rec/stationpuzzle/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..8ccdef7d6fe05159c409af74707fd6bc60bede10 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1035/rec/stationpuzzle/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationpuzzle/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N032/go2_arm/dr_off/seed_1035/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/go2_arm/dr_off/seed_1035/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..fdfc83eb07009fdd845186da79051c2eb66d2e07 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1035/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da222db3bf8505bd6da85dbe2063e83ecafc2c5bb022c86c504f451d40457fa3 +size 6394531 diff --git a/N032/go2_arm/dr_off/seed_1035/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl b/N032/go2_arm/dr_off/seed_1035/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..40cc4691fdd29cb38c5b40413c5296eabcdb9eac --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1035/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap."], "length": 1712, "magicsim/control_steps": 3423, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a small gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is in front of the cand O. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is to the right of the gray board 1. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is behind the gray table B. The scene is viewed from front, at table height."} diff --git a/N032/go2_arm/dr_off/seed_1035/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/go2_arm/dr_off/seed_1035/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..33372ab32fc7a8ef0cc0f8b376c821add724bacc --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1035/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.1672458405199539, -0.002831992812924714, 0.021432352945492516, 0.33734812505682493, 0.5524367274472786, 0.6368019802672092, 0.6339300020345461, 0.059557265374933534, -0.624202318916045, 0.44383500126477715, 0.13376982506825894, 0.42990654205607476], "std": [0.1529931829484229, 0.02010192301287903, 0.3314206742386609, 0.026522452327218896, 1.2273498405907386, 1.4544983332459986, 0.051949587866315414, 0.1111734315126062, 0.23179532550728546, 0.5653183926782509, 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There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a small gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is in front of the cand O. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is to the right of the gray board 1. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is behind the gray table B. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[cand O]e]\n\n\n\n [picture cap]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationPuzzle", + "instruction": "Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.", + "template_id": -1, + "slots": { + "obj": 1.577140672023664, + "support": null + }, + "generic_instruction": "Stationpuzzle the 1.577140672023664.", + "task_id": "N032", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_1279": { + "frame_idx": 1279, + "caption": "Computing a grasp pose for the small tile; the right gripper is below and to the left of and in front of the tile.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", 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of the tile.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1610": { + "frame_idx": 1610, + "caption": "Pre-grasping the small tile, moving the arm toward it; the right gripper is below and to the left of and in front of the tile.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1638": { + "frame_idx": 1638, + "caption": "Pre-grasping the small tile, moving the arm toward it; the right gripper is below and to the left of the tile.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tile_1", + 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"go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 12, + "nan_policy": "from_raw", + "segments": [ + { + "name": "Go2Plus.base_action", + "start": 0, + "end": 4, + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3" + ], + "source": "Go2UnifiedLocomotionAction", + "names_source": "fallback" + }, + { + "name": "Go2Plus.arm_action", + "start": 4, + "end": 11, + 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"vertical_aperture": 1.4407838582992554 + }, + "wrist": { + "link": "Robot_0/Bodies/piper_link6", + "pos": [ + -0.074987, + 0.005289, + 0.045821 + ], + "ori": [ + 179.3135, + -20.212, + 88.9402 + ], + "focal_length": 1.8517500162124634, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4393036365509033 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/Go2Plus/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32", + "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32", + "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1097.2, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 31.0 + } +} diff --git a/N032/go2_arm/dr_off/seed_1036/check.json b/N032/go2_arm/dr_off/seed_1036/check.json new file mode 100644 index 0000000000000000000000000000000000000000..a1c9724edd2ddc23451c12ec1b657643daa06162 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1036/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1736 rows vs ceil(3472/2) = 1736" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..3571, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "14.90 MB, 1736 frames at 25 fps, mean luma 104..141, std 28, new picture 1735x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1736 vs 1736" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "31.93 MB, 1736 frames at 25 fps, mean luma 102..174, std 29, new picture 1735x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1736 vs 1736" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationpuzzle/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N032/go2_arm/dr_off/seed_1036/check.txt b/N032/go2_arm/dr_off/seed_1036/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..b10419dc00f8a57e1c60ed8d88a0d4095eedd38a --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1036/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_go2_off_1036/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_go2_off_1036/out/rec/stationpuzzle/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1736 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: 1736 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.' +rows 1736 at dataset fps 25 = 69.44 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1736 rows vs ceil(3472/2) = 1736 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..3571, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 14.90 MB, 1736 frames at 25 fps, mean luma 104..141, std 28, new picture 1735x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1736 vs 1736 +[PASS] video observation.images.wrist decodes, 640x480, not black: 31.93 MB, 1736 frames at 25 fps, mean luma 102..174, std 29, new picture 1735x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1736 vs 1736 +parquet size 6.07 MB +[PASS] sim_info present: rec/stationpuzzle/000/sim_info +dataset size 53.18 MB; whole cell dir 55.2 MB +RESULT: ALL PASS diff --git a/N032/go2_arm/dr_off/seed_1036/rec/stationpuzzle/000/completed/0.json b/N032/go2_arm/dr_off/seed_1036/rec/stationpuzzle/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..8ccdef7d6fe05159c409af74707fd6bc60bede10 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1036/rec/stationpuzzle/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationpuzzle/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N032/go2_arm/dr_off/seed_1036/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/go2_arm/dr_off/seed_1036/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..e473e1073bb26a21f86b0bed3aa5047e33600bc8 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1036/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:477f53a663bc95346fc639102f6d2eb71a939a70007d41602a57e2c267f1ffe3 +size 6071563 diff --git a/N032/go2_arm/dr_off/seed_1036/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl b/N032/go2_arm/dr_off/seed_1036/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..78cfbb171226b49dae649fa4745b2ee37ea153c9 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1036/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap."], "length": 1736, "magicsim/control_steps": 3472, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a small gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is in front of the cand O. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is in front of the gray board 0. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is behind the gray table B. The scene is viewed from front, at table height."} diff --git a/N032/go2_arm/dr_off/seed_1036/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/go2_arm/dr_off/seed_1036/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e27946c6cbac8564da39c90e8da19a70525222c2 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1036/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.1765880405962948, -0.0016976503101671073, 0.023486733229772922, 0.337315662287622, 0.3499472372165199, 0.44431635042575235, 0.6356180560719308, 0.05594471583629997, -0.5979473101241248, 0.42899198069619143, 0.1296741567522047, 0.43836405529953915], "std": [0.15062368619234745, 0.01877090240248956, 0.32189200672057644, 0.02614895058147876, 1.393364058925902, 1.3997265153533893, 0.051914402057648266, 0.11212824531191268, 0.3016857871628203, 0.5711270345629152, 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There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a small gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is in front of the cand O. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is in front of the gray board 0. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is behind the gray table B. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[cand O]le]\n\n\n\n [picture cap]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationPuzzle", + "instruction": "Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.", + "template_id": -1, + "slots": { + "obj": 1.5550128215050711, + "support": null + }, + "generic_instruction": "Stationpuzzle the 1.5550128215050711.", + "task_id": "N032", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_1343": { + "frame_idx": 1343, + "caption": "Computing a grasp pose for the small tile; the right gripper is below and to the left of and in front of the tile.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1350": { + "frame_idx": 1350, + "caption": "Working on the small tile; the right gripper is below and to the left of and in front of the tile.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1597": { + "frame_idx": 1597, + "caption": "Computing a grasp pose for the small tile; the right gripper is below and to the left of and in front of the tile.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1612": { + "frame_idx": 1612, + "caption": "Pre-grasping the small tile, servoing the arm toward it; the right gripper is below and to the left of and in front of the tile.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1613": { + "frame_idx": 1613, + "caption": "Pre-grasping the small tile, moving the arm toward it; the right gripper is below and to the left of and in front of the tile.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1620": { + "frame_idx": 1620, + "caption": "Pre-grasping the small tile, moving the arm toward it; the right gripper is below and to the left of the tile.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": 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mode 100644 index 0000000000000000000000000000000000000000..d8ca460329cb502b76a4413d1090cb3d38a9336c --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2037/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1777 rows vs ceil(3554/2) = 1777" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..3653, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "40.26 MB, 1777 frames at 25 fps, mean luma 94..131, std 28, new picture 1776x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1777 vs 1777" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "66.64 MB, 1777 frames at 25 fps, mean luma 78..158, std 39, new picture 1776x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1777 vs 1777" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationpuzzle/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N032/go2_arm/dr_on/seed_2037/check.txt b/N032/go2_arm/dr_on/seed_2037/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..507fd1e34751ed65fec5a90919a46683ac64c259 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2037/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_go2_on_2037/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_go2_on_2037/out/rec/stationpuzzle/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1777 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: 1777 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.' +rows 1777 at dataset fps 25 = 71.08 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1777 rows vs ceil(3554/2) = 1777 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..3653, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 40.26 MB, 1777 frames at 25 fps, mean luma 94..131, std 28, new picture 1776x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1777 vs 1777 +[PASS] video observation.images.wrist decodes, 640x480, not black: 66.64 MB, 1777 frames at 25 fps, mean luma 78..158, std 39, new picture 1776x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1777 vs 1777 +parquet size 6.31 MB +[PASS] sim_info present: rec/stationpuzzle/000/sim_info +dataset size 113.50 MB; whole cell dir 115.6 MB +RESULT: ALL PASS diff --git a/N032/go2_arm/dr_on/seed_2037/rec/stationpuzzle/000/completed/0.json b/N032/go2_arm/dr_on/seed_2037/rec/stationpuzzle/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..8ccdef7d6fe05159c409af74707fd6bc60bede10 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2037/rec/stationpuzzle/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationpuzzle/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N032/go2_arm/dr_on/seed_2037/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/go2_arm/dr_on/seed_2037/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..d1ef94b2212e18f30415d04ad9465e17e0789c88 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2037/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:636a0626c493033f02d75c5eb20bdfcc08d5eedad8842f03897546dfea16183b +size 6306068 diff --git a/N032/go2_arm/dr_on/seed_2037/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl b/N032/go2_arm/dr_on/seed_2037/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..88641da5050767e58d3dd79ae63d92f985c2e8e4 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2037/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap."], "length": 1777, "magicsim/control_steps": 3554, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a small gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is in front of the cand O. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is to the right of the gray board 1. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is behind the gray table B. The scene is viewed from front, at table height."} diff --git a/N032/go2_arm/dr_on/seed_2037/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/go2_arm/dr_on/seed_2037/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..da986c3fe5f9933dcea62a23d0f59484bd7c6482 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2037/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.17651935326974247, -0.0018470585440559608, 0.023027038453617192, 0.3376533424478605, 0.41511772188096485, 0.47825642593402035, 0.6353578124578977, 0.059427408765389315, -0.6058140124792321, 0.43577545161894116, 0.13262574622050122, 0.4501969611705121], "std": [0.1506053866867323, 0.022077617447961464, 0.3251657184297669, 0.025875224492098416, 1.2813874392465305, 1.5595907322515992, 0.05131551668489129, 0.1168857447598954, 0.24460059194896167, 0.5846980710632824, 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+ "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_robot": [ + 4.1762807013235586, + 0.05002410835701204, + -0.3419434519954418 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + 0.017356943317221596, + -0.9998337334638687, + 0.005589449560045617 + ], + [ + -0.9382601518788614, + -0.014355819960515381, + 0.34563246061317376 + ], + [ + -0.3454947523696107, + -0.011243480820582297, + -0.9383533237667454 + ] + ], + "t": [ + 0.006333551580298355, + -0.08611861262827436, + 0.017148138726427706 + ] + } + } + ], + "robots": [ + { + "name": "Go2Plus", + "model": "go2plus", + "type": "mobilemanip", + "noun": "Unitree Go2 EDU quadruped with a Piper arm", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.4, + -2.2, + 0.44999999999999996 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a small gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is in front of the cand O. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is to the right of the gray board 1. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is behind the gray table B. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[cand O]]\n\n\n\n [picture cap]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationPuzzle", + "instruction": "Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.", + "template_id": -1, + "slots": { + "obj": 1.5438640778888584, + "support": null + }, + "generic_instruction": "Stationpuzzle the 1.5438640778888584.", + "task_id": "N032", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_1349": { + "frame_idx": 1349, + "caption": "Computing a grasp pose for the small tile; the right gripper is below and to the left of and in front of the tile.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1355": { + "frame_idx": 1355, + "caption": "Working on the small tile; the right gripper is below and to the left of and in front of the tile.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1602": { + "frame_idx": 1602, + "caption": "Computing a grasp pose for the small tile; the right gripper is below and to the left of and in front of the tile.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1617": { + "frame_idx": 1617, + "caption": "Pre-grasping the small tile, servoing the arm toward it; the right gripper is below and to the left of and in front of the tile.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1618": { + "frame_idx": 1618, + "caption": "Pre-grasping the small tile, moving the arm toward it; the right gripper is below and to the left of and in front of the tile.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1668": { + "frame_idx": 1668, + "caption": "Grasping the small tile, moving the arm in to make contact; the right gripper is below and to the left of and in front of the tile.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1701": { + "frame_idx": 1701, + "caption": "Grasping the small tile, moving the arm in to make contact; the right gripper is below and to the left of the tile.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1728": { + "frame_idx": 1728, + "caption": "Grasping the small tile, moving the arm in to make contact; the right gripper is below the tile.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1730": { + "frame_idx": 1730, + "caption": "Closing the right gripper on the tile; the right gripper is below the tile.", + "skill": "Grasp", + "phase": "close_gripper", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1790": { + "frame_idx": 1790, + "caption": "Lifting the tile away with the gripper; the right gripper is below the tile.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "ParallelGripper", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1791": { + "frame_idx": 1791, + "caption": "Lifting the tile away with the arm; the right gripper is below the tile.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1853": { + "frame_idx": 1853, + "caption": "Done — the small tile is grasped; the right gripper is below the tile.", + "skill": 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of file diff --git a/N032/go2_arm/dr_on/seed_2037/rec/stationpuzzle/000/sim_info/0/sim_states.npz b/N032/go2_arm/dr_on/seed_2037/rec/stationpuzzle/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..98821ef6a4c3f89dfee7d0c0542928488773d3d2 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2037/rec/stationpuzzle/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd75a5ab0cd2ec6ac1e16c98e1320044cb61b169ad112e43b9ce40a144b1ec10 +size 850067 diff --git a/N032/go2_arm/dr_on/seed_2037/rec/stationpuzzle/000/sim_info/magicsim_manifest.json b/N032/go2_arm/dr_on/seed_2037/rec/stationpuzzle/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..2163de09af4ce1daf5ef89d539608090efe8d54b --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2037/rec/stationpuzzle/000/sim_info/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": 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"horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4393036365509033 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/Go2Plus/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32", + "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32", + "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1210.5, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 36.1 + } +} diff --git a/N032/sawyer_umi/dr_off/seed_1039/check.json b/N032/sawyer_umi/dr_off/seed_1039/check.json new file mode 100644 index 0000000000000000000000000000000000000000..905054604880303c980444b9fa7de1e446450ec6 --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1039/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: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2716 rows vs ceil(5432/2) = 2716" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5531, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "31.24 MB, 2716 frames at 25 fps, mean luma 96..150, std 27, new picture 2715x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2716 vs 2716" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "49.91 MB, 2716 frames at 25 fps, mean luma 107..179, std 26, new picture 2715x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2716 vs 2716" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationpuzzlexr/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N032/sawyer_umi/dr_off/seed_1039/check.txt b/N032/sawyer_umi/dr_off/seed_1039/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..8c1f9b02054391f883df09392c114bc4cbd7ec6f --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1039/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_saw_off_1039/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_saw_off_1039/out/rec/stationpuzzlexr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2716 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: 2716 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: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.' +rows 2716 at dataset fps 25 = 108.64 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2716 rows vs ceil(5432/2) = 2716 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5531, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 31.24 MB, 2716 frames at 25 fps, mean luma 96..150, std 27, new picture 2715x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2716 vs 2716 +[PASS] video observation.images.wrist decodes, 640x480, not black: 49.91 MB, 2716 frames at 25 fps, mean luma 107..179, std 26, new picture 2715x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2716 vs 2716 +parquet size 3.71 MB +[PASS] sim_info present: rec/stationpuzzlexr/000/sim_info +dataset size 85.07 MB; whole cell dir 86.7 MB +RESULT: ALL PASS diff --git a/N032/sawyer_umi/dr_off/seed_1039/rec/stationpuzzlexr/000/completed/0.json b/N032/sawyer_umi/dr_off/seed_1039/rec/stationpuzzlexr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..0ea26fd1750065ae505310bf089fab096819eb7a --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1039/rec/stationpuzzlexr/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationpuzzlexr/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N032/sawyer_umi/dr_off/seed_1039/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/sawyer_umi/dr_off/seed_1039/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..e90775a67735db6bc92b01a5771e653f9bf4fc17 --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1039/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11e126921d8da15a39e39411ed2f562e030de0ad8e9bc6495cd3b0473493a9ba +size 3713212 diff --git a/N032/sawyer_umi/dr_off/seed_1039/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes.jsonl b/N032/sawyer_umi/dr_off/seed_1039/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..df18142132c22195431ea9a04d6326fa3f3a490d --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1039/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap."], "length": 2716, "magicsim/control_steps": 5432, "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 board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a small gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is in front of the cand O. The gray board 0 is to the right of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is to the right of the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is behind the gray table B. The scene is viewed from front, at table height."} diff --git a/N032/sawyer_umi/dr_off/seed_1039/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/sawyer_umi/dr_off/seed_1039/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..16227974cb5d1c81746c4dd4cf13fdb82b909c31 --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1039/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.10767258219050575, -0.0015441889506702987, 0.011376386709007728, 0.7499149186764357, 0.7020147391080593, 1.0420538497120362, 0.2099175899041287, 0.038376349081182086, 0.2701268136338091, 0.18904169436577783, 0.3799705449189985], "std": [0.13444339012583872, 0.015044017598440576, 0.23068681306825736, 1.3641189081204401, 1.6259307148737874, 0.29051653287006013, 0.5086433968067772, 0.29420521886721157, 0.3962493004578617, 0.5860615027653175, 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"RidgebackSawyerUmi", + "model": "ridgebacksawyer_umi", + "type": "mobilemanip", + "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.4, + -2.2, + 0.05 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "A 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 board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a small gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is in front of the cand O. The gray board 0 is to the right of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is to the right of the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is behind the gray table B. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[cand O]]\n\n\n\n [picture cap]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationPuzzleXR", + "instruction": "Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.", + "template_id": -1, + "slots": { + "obj": 1.5737067481726006, + "support": null + }, + "generic_instruction": "Stationpuzzlexr the 1.5737067481726006.", + "task_id": "N032", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": {} + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N032/sawyer_umi/dr_off/seed_1039/rec/stationpuzzlexr/000/lerobot_v21/meta/info.json b/N032/sawyer_umi/dr_off/seed_1039/rec/stationpuzzlexr/000/lerobot_v21/meta/info.json new file mode 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0000000000000000000000000000000000000000..b2d58c3f782f595e9c9d6e6a7c286ee1e0c3a22a --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1039/rec/stationpuzzlexr/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:85397d88c0018bcbe9970a2b759e4ba79a5e1ecd269c86035fe98c8325decc64 +size 748523 diff --git a/N032/sawyer_umi/dr_off/seed_1039/rec/stationpuzzlexr/000/sim_info/magicsim_manifest.json b/N032/sawyer_umi/dr_off/seed_1039/rec/stationpuzzlexr/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..f3cc689f7c8cda8b783c86e453e2ce84eb90e820 --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1039/rec/stationpuzzlexr/000/sim_info/magicsim_manifest.json @@ -0,0 +1,233 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 06:54:52" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + 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"frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z" + ], + "source": "PinkInverseKinematicsAction", + "names_source": "pink_layout" + }, + { + "name": "RidgebackSawyerUmi.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_pos", + "start": 0, + "end": 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" + ], + "source": "ObservationManager", + "names_source": "joint_names" + }, + { + "name": "RidgebackSawyerUmi.gripper_pos", + "start": 13, + "end": 15, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": 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+ } +} \ No newline at end of file diff --git a/N032/sawyer_umi/dr_off/seed_1039/report.episodes.jsonl b/N032/sawyer_umi/dr_off/seed_1039/report.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c7b862829eeda3bf2178dc31e74f8416f3fa55ae --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1039/report.episodes.jsonl @@ -0,0 +1 @@ +{"task_id": "N032", "task_version": "EXT60-MobileAvatar-v3", "instruction": null, "agent_id": "a07", "family_id": "puzzle_completion", "primary_category": "C2", "level": "easy", "embodiment": "sawyer_umi", "scene_seed": 1039, "execution_mode": "expert_privileged_command", "station_layout": {"A": {"center": [-0.22872956381362433, -0.05428004134731112], "facing": 1.574, "stand": [-0.226, -1.004, 1.574]}, "B": {"center": [2.110383508873967, 3.1188164856305116], "facing": 1.581, "stand": [2.12, 2.169, 1.581]}}, "spawn_pose": [-3.447, -2.258, 0.432], "base_path": [[-3.447, -2.258, 0.432], [-3.447, -2.258, 0.432], [-3.447, -2.258, 0.432], 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"intruders": [], + "manipulation_success": true + }, + "route": [ + "A", + "B", + "A" + ], + "total_path_m": 11.73, + "planner_seeds": "default" + } + ], + "error": null, + "collect": { + "task": "N032", + "robot": "sawyer_umi", + "visual_dr": false, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N032", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "0" + }, + "cameras": { + "head": { + "link": "Robot_0/head", + "pos": [ + 0.2166, + 0.0, + -0.045 + ], + "ori": [ + -0.0, + 35.0, + -90.0 + ], + "focal_length": 2.0, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7 + }, + "wrist": { + "link": "Robot_0/right_electric_gripper_base", + "pos": [ + 0.0598, + 0.0, + 0.03 + ], + "ori": [ + 180.0, + 0.0, + -90.0 + ], + "focal_length": 1.8, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/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" + ], + "n_success": 1, + "elapsed_s": 1319.4, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 43.5 + } +} diff --git a/N032/stretch3/dr_off/seed_1064/check.json b/N032/stretch3/dr_off/seed_1064/check.json new file mode 100644 index 0000000000000000000000000000000000000000..f7cdf05cd647cb78384b412e72e7931f0e31a076 --- /dev/null +++ b/N032/stretch3/dr_off/seed_1064/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2611 rows vs ceil(5221/2) = 2611" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5321, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "26.30 MB, 2611 frames at 25 fps, mean luma 113..156, std 12, new picture 2610x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2611 vs 2611" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "57.80 MB, 2611 frames at 25 fps, mean luma 111..169, std 29, new picture 2610x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2611 vs 2611" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationpuzzlestretch/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N032/stretch3/dr_off/seed_1064/check.txt b/N032/stretch3/dr_off/seed_1064/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..9b962ecee287f92c31b8e079f54dc937a0aa5c38 --- /dev/null +++ b/N032/stretch3/dr_off/seed_1064/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_str_off_1064/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_str_off_1064/out/rec/stationpuzzlestretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2611 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: 2611 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] +[PASS] task text = MobileBench instruction: task_index 0: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.' +rows 2611 at dataset fps 25 = 104.44 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2611 rows vs ceil(5221/2) = 2611 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5321, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 26.30 MB, 2611 frames at 25 fps, mean luma 113..156, std 12, new picture 2610x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2611 vs 2611 +[PASS] video observation.images.wrist decodes, 640x480, not black: 57.80 MB, 2611 frames at 25 fps, mean luma 111..169, std 29, new picture 2610x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2611 vs 2611 +parquet size 4.02 MB +[PASS] sim_info present: rec/stationpuzzlestretch/000/sim_info +dataset size 88.33 MB; whole cell dir 90.2 MB +RESULT: ALL PASS diff --git a/N032/stretch3/dr_off/seed_1064/rec/stationpuzzlestretch/000/completed/0.json b/N032/stretch3/dr_off/seed_1064/rec/stationpuzzlestretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..2b614a937da99960d58d2a321fefcbc4aa6cfa5e --- /dev/null +++ b/N032/stretch3/dr_off/seed_1064/rec/stationpuzzlestretch/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationpuzzlestretch/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N032/stretch3/dr_off/seed_1064/rec/stationpuzzlestretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/stretch3/dr_off/seed_1064/rec/stationpuzzlestretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..a3734e2227fe97ec02782d1419a237634b0db5a0 --- /dev/null +++ b/N032/stretch3/dr_off/seed_1064/rec/stationpuzzlestretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f72210fe0152b6af15d4994ed1359754e3d2273515a632678ed4e21510289011 +size 4018122 diff --git a/N032/stretch3/dr_off/seed_1064/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes.jsonl b/N032/stretch3/dr_off/seed_1064/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7fdd62e16aea86ffa022ddee8bd2e6f41cfe91ef --- /dev/null +++ b/N032/stretch3/dr_off/seed_1064/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap."], "length": 2611, "magicsim/control_steps": 5221, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a small gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is in front of the cand O. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is to the right of the gray board 1. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is behind the gray table B. The scene is viewed from front, slightly above table height."} diff --git a/N032/stretch3/dr_off/seed_1064/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/stretch3/dr_off/seed_1064/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..499af2cddf1ebb8e9303930382a5b3685145c6a3 --- /dev/null +++ b/N032/stretch3/dr_off/seed_1064/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.031323690316238564, 0.0, 0.023399984405730212, 0.37050051346980534, 0.5719623215944545, 0.7101551955205552, -0.3100321872264405, -0.005384852614991264, -0.061012854121277965, 0.023987468981231504, 0.4366143240137878], "std": [0.17696571850583884, 0.0, 0.21312409502230154, 1.1385307771042528, 1.4854138462684214, 0.15523884804520108, 0.5075039860000754, 0.3300703842220755, 0.3864368033246796, 0.6194455636253934, 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There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a small gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is in front of the cand O. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is to the right of the gray board 1. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is behind the gray table B. The scene is viewed from front, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[cand O]le]\n\n\n\n [picture cap]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationPuzzleStretch", + "instruction": "Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.", + "template_id": -1, + "slots": { + "obj": 3.10295156358493, + "support": null + }, + "generic_instruction": "Stationpuzzlestretch the 3.10295156358493.", + "task_id": "N032", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": {} + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N032/stretch3/dr_off/seed_1064/rec/stationpuzzlestretch/000/lerobot_v21/meta/info.json 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], + "n_success": 1, + "elapsed_s": 1345.4, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 40.4 + } +} diff --git a/N032/stretch3/dr_on/seed_2048/check.json b/N032/stretch3/dr_on/seed_2048/check.json new file mode 100644 index 0000000000000000000000000000000000000000..6105136bd4e48ac039bccdb20d046ecf51f6ee5e --- /dev/null +++ b/N032/stretch3/dr_on/seed_2048/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2623 rows vs ceil(5246/2) = 2623" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5345, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "103.76 MB, 2623 frames at 25 fps, mean luma 120..157, std 26, new picture 2622x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2623 vs 2623" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "87.46 MB, 2623 frames at 25 fps, mean luma 107..176, std 37, new picture 2622x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2623 vs 2623" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationpuzzlestretch/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N032/stretch3/dr_on/seed_2048/check.txt b/N032/stretch3/dr_on/seed_2048/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..c4e24974a506b78d6d11ebfa8583b08f81a366fa --- /dev/null +++ b/N032/stretch3/dr_on/seed_2048/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_str_on_2048_r1/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_str_on_2048_r1/out/rec/stationpuzzlestretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2623 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: 2623 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] +[PASS] task text = MobileBench instruction: task_index 0: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.' +rows 2623 at dataset fps 25 = 104.92 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2623 rows vs ceil(5246/2) = 2623 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5345, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 103.76 MB, 2623 frames at 25 fps, mean luma 120..157, std 26, new picture 2622x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2623 vs 2623 +[PASS] video observation.images.wrist decodes, 640x480, not black: 87.46 MB, 2623 frames at 25 fps, mean luma 107..176, std 37, new picture 2622x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2623 vs 2623 +parquet size 4.10 MB +[PASS] sim_info present: rec/stationpuzzlestretch/000/sim_info +dataset size 195.51 MB; whole cell dir 197.4 MB +RESULT: ALL PASS diff --git a/N032/stretch3/dr_on/seed_2048/rec/stationpuzzlestretch/000/completed/0.json b/N032/stretch3/dr_on/seed_2048/rec/stationpuzzlestretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..2b614a937da99960d58d2a321fefcbc4aa6cfa5e --- /dev/null +++ b/N032/stretch3/dr_on/seed_2048/rec/stationpuzzlestretch/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationpuzzlestretch/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N032/stretch3/dr_on/seed_2048/rec/stationpuzzlestretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/stretch3/dr_on/seed_2048/rec/stationpuzzlestretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..6ed5df3166d05694a7068e21a10da07f14d22981 --- /dev/null +++ b/N032/stretch3/dr_on/seed_2048/rec/stationpuzzlestretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b1dcb9ab505c1954f32ab96587e2a6521824ef96714b3f4b70ff121f1cadbbab +size 4096359 diff --git a/N032/stretch3/dr_on/seed_2048/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes.jsonl b/N032/stretch3/dr_on/seed_2048/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3f4dd8ab84271cf577ef8ff07c062e4d603f3254 --- /dev/null +++ b/N032/stretch3/dr_on/seed_2048/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap."], "length": 2623, "magicsim/control_steps": 5246, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a small gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is in front of the cand O. The gray board 0 is to the right of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is to the right of the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is behind the gray table B. The scene is viewed from front, slightly above table height."} diff --git a/N032/stretch3/dr_on/seed_2048/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/stretch3/dr_on/seed_2048/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cedcaa422fff7f2f476db4c7f314069ee0be2fb0 --- /dev/null +++ b/N032/stretch3/dr_on/seed_2048/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.0330048699402032, 0.0, 0.025303719354189118, 0.3711229951393954, 0.2956059584965744, 0.7127053284640535, -0.31899083444505666, -0.005283472755261719, -0.07001944119322688, 0.04124017716522122, 0.44033549370949293], "std": [0.17723001778999142, 0.0, 0.22003494933360657, 1.1915494854836028, 1.4681067083869093, 0.1544199107517881, 0.4927244849360855, 0.3378417561791115, 0.3776383097733959, 0.626169536980048, 0.4964273830975791], 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null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.4, + -2.2, + 0.06 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a small gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is in front of the cand O. The gray board 0 is to the right of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is to the right of the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is behind the gray table B. The scene is viewed from front, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[cand O]]\n\n\n\n [picture cap]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationPuzzleStretch", + "instruction": "Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.", + "template_id": -1, + "slots": { + "obj": 3.1250980009880824, + "support": null + }, + "generic_instruction": "Stationpuzzlestretch the 3.1250980009880824.", + "task_id": "N032", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": {} + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N032/stretch3/dr_on/seed_2048/rec/stationpuzzlestretch/000/lerobot_v21/meta/info.json 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"/robot_state[0]/HelloRobot/joint_pos:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_vel:(1, 15):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1354.9, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 61.7 + } +} diff --git a/N033/go2_arm/dr_off/seed_1035/check.json b/N033/go2_arm/dr_off/seed_1035/check.json new file mode 100644 index 0000000000000000000000000000000000000000..50f601911e0ebe8e04253c3c8a2f09ded48e0a57 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1035/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1325 rows vs ceil(2649/2) = 1325" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..2749, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "10.19 MB, 1325 frames at 25 fps, mean luma 107..141, std 18, new picture 1324x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1325 vs 1325" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "23.02 MB, 1325 frames at 25 fps, mean luma 108..168, std 29, new picture 1324x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1325 vs 1325" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationring/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1035/check.txt b/N033/go2_arm/dr_off/seed_1035/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..261f6ac19ed87333eb20dda3f9987b84dfd277cd --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1035/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_go2_off_1035/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_go2_off_1035/out/rec/stationring/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1325 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: 1325 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.' +rows 1325 at dataset fps 25 = 53.00 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1325 rows vs ceil(2649/2) = 1325 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..2749, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 10.19 MB, 1325 frames at 25 fps, mean luma 107..141, std 18, new picture 1324x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1325 vs 1325 +[PASS] video observation.images.wrist decodes, 640x480, not black: 23.02 MB, 1325 frames at 25 fps, mean luma 108..168, std 29, new picture 1324x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1325 vs 1325 +parquet size 4.49 MB +[PASS] sim_info present: rec/stationring/000/sim_info +dataset size 37.95 MB; whole cell dir 39.3 MB +RESULT: ALL PASS diff --git a/N033/go2_arm/dr_off/seed_1035/rec/stationring/000/completed/0.json b/N033/go2_arm/dr_off/seed_1035/rec/stationring/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..c24e4e92ce410caf19b3ef731d95205d50917856 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1035/rec/stationring/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationring/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1035/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/go2_arm/dr_off/seed_1035/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..285523ee813691e8bd5269a8754c3f2ec8924e4c --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1035/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba53e5552110a4cebbf0f91076eec931fb9d10dbc35ef134b215ff8204e134c5 +size 4493465 diff --git a/N033/go2_arm/dr_off/seed_1035/rec/stationring/000/lerobot_v21/meta/episodes.jsonl b/N033/go2_arm/dr_off/seed_1035/rec/stationring/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ac24bb007f5e4973cb20790bd53732b7502106a8 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1035/rec/stationring/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end."], "length": 1325, "magicsim/control_steps": 2649, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown rod stop. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is to the right of the brown rod stop. The brown rack back is in front of the gray peg 2. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is to the right of the brown rod stop. The brown rod stop is to the left of the white rod s. The scene is viewed from front, at table height."} diff --git a/N033/go2_arm/dr_off/seed_1035/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/go2_arm/dr_off/seed_1035/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fdfdd2cdbc43ccfb2370e4378129699925dd2a34 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1035/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.14581314325192066, 0.003845336735951451, 0.027828264872561084, 0.35306037331527135, 0.4793952897922048, 0.7884581218069454, 0.6907212168765517, 0.16185980239004458, -0.5394337485477609, 0.7751938721368897, 0.12247167094839069, 0.4649056603773585], "std": [0.16324829106557884, 0.026419809724657576, 0.2588139647801653, 0.015902992926318093, 1.2692390522776866, 1.6642345227528308, 0.038180492183236464, 0.04657192652709401, 0.21122055351818042, 0.12551949630733697, 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40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown rod stop. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is to the right of the brown rod stop. The brown rack back is in front of the gray peg 2. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is to the right of the brown rod stop. The brown rod stop is to the left of the white rod s. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[rod stop]\n\n\n\n [ring small]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationRing", + "instruction": "Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.", + "template_id": -1, + "slots": { + "obj": 1.577140672023664, + "support": null + }, + "generic_instruction": "Stationring the 1.577140672023664.", + "task_id": "N033", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0565": { + "frame_idx": 565, + "caption": "Computing a grasp pose for the small ring; the right gripper is below and to the left of and in front of the ring.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0592": { + "frame_idx": 592, + "caption": "Working on the small ring; the right gripper is below and to the left of and in front of the ring.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0869": { + "frame_idx": 869, + "caption": "Computing a grasp pose for the small ring; the right gripper is below and to the left of and in front of the ring.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0883": { + "frame_idx": 883, + "caption": "Pre-grasping the small ring, servoing the arm toward it; the right gripper is below and to the left of and in front of the ring.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0884": { + "frame_idx": 884, + "caption": "Pre-grasping the small ring, moving the arm toward it; the right gripper is below and to the left of and in front of the ring.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0936": { + "frame_idx": 936, + "caption": "Grasping the small ring, moving the arm in to make contact; the right gripper is below and to the left of and in front of the ring.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0976": { + "frame_idx": 976, + "caption": "Grasping the small ring, moving the arm in to make contact; the right gripper is below and to the left of the ring.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_0998": { + "frame_idx": 998, + "caption": "Closing the right gripper on the ring; the right gripper is below and to the left of the ring.", + "skill": "Grasp", + "phase": "close_gripper", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1058": { + "frame_idx": 1058, + "caption": "Lifting the ring away with the gripper; the right gripper is below and to the left of the ring.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "ParallelGripper", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1059": { + "frame_idx": 1059, + "caption": "Lifting the ring away with the arm; the right gripper is below and to the left of the ring.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1119": { + "frame_idx": 1119, + "caption": "Done — the small ring is grasped; the right gripper is below and to the left of the ring.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + 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} +} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1035/report.episodes.jsonl b/N033/go2_arm/dr_off/seed_1035/report.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7bdd48d79f82cb61c48a422eb3134b17690764b7 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1035/report.episodes.jsonl @@ -0,0 +1 @@ +{"task_id": "N033", "task_version": "EXT60-MobileAvatar-v3", "instruction": "pick up the large ring (not the small one)", "agent_id": "a07", "family_id": "ring_on_bent_rod", "primary_category": "C2", "level": "easy", "embodiment": "go2_arm", "scene_seed": 1035, "execution_mode": "expert_privileged_command", "station_layout": {"A": {"center": [-0.26018935748987365, 0.17650099090616442], "facing": 1.577, "stand": [-0.254, -0.773, 1.577]}, "B": {"center": [1.7447880313412347, 3.1198160657375147], "facing": 1.686, "stand": [1.854, 2.176, 1.686]}}, "spawn_pose": [-3.216, -2.132, 0.616], "base_path": [[-3.217, -2.133, 0.616], [-3.217, -2.138, 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"/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32", + "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32", + "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32" + ], + "n_success": 1, + "elapsed_s": 928.4, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 23.3 + } +} diff --git a/N033/go2_arm/dr_off/seed_1036/check.json b/N033/go2_arm/dr_off/seed_1036/check.json new file mode 100644 index 0000000000000000000000000000000000000000..037874ab85272f0751ae7ed289fbe614e466bc93 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1036/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1387 rows vs ceil(2774/2) = 1387" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..2873, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "11.48 MB, 1387 frames at 25 fps, mean luma 110..139, std 17, new picture 1386x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1387 vs 1387" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "23.71 MB, 1387 frames at 25 fps, mean luma 112..168, std 29, new picture 1386x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1387 vs 1387" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationring/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1036/check.txt b/N033/go2_arm/dr_off/seed_1036/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..7b2856280181293eff661ea6945fdf33db3d4f35 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1036/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_go2_off_1036/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_go2_off_1036/out/rec/stationring/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1387 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: 1387 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.' +rows 1387 at dataset fps 25 = 55.48 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1387 rows vs ceil(2774/2) = 1387 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..2873, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 11.48 MB, 1387 frames at 25 fps, mean luma 110..139, std 17, new picture 1386x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1387 vs 1387 +[PASS] video observation.images.wrist decodes, 640x480, not black: 23.71 MB, 1387 frames at 25 fps, mean luma 112..168, std 29, new picture 1386x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1387 vs 1387 +parquet size 4.74 MB +[PASS] sim_info present: rec/stationring/000/sim_info +dataset size 40.20 MB; whole cell dir 41.6 MB +RESULT: ALL PASS diff --git a/N033/go2_arm/dr_off/seed_1036/rec/stationring/000/completed/0.json b/N033/go2_arm/dr_off/seed_1036/rec/stationring/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..c24e4e92ce410caf19b3ef731d95205d50917856 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1036/rec/stationring/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationring/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1036/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/go2_arm/dr_off/seed_1036/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..c75694f529a01cdd0d4cc56789451f253b60fe3e --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1036/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9825e5a4c17a8f87650743ab7850a7195082fe6b9f49a3fad3756caca1bdff7a +size 4740188 diff --git a/N033/go2_arm/dr_off/seed_1036/rec/stationring/000/lerobot_v21/meta/episodes.jsonl b/N033/go2_arm/dr_off/seed_1036/rec/stationring/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a5b6f2a434a0d3373e5166a88ebc16dde4dc3648 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1036/rec/stationring/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end."], "length": 1387, "magicsim/control_steps": 2774, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown rod stop. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is to the right of the brown rod stop. The brown rack back is in front of the gray peg 2. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is to the right of the brown rod stop. The brown rod stop is to the left of the white rod s. The scene is viewed from front, at table height."} diff --git a/N033/go2_arm/dr_off/seed_1036/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/go2_arm/dr_off/seed_1036/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..626bc95fd03b31a63b990e0b071dd8b270a02f4f --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1036/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.14552732782670724, -0.0014103169726891404, 0.02790146683532108, 0.3530730204609718, 0.2147340206315213, 0.6719097020379828, 0.6897056116504298, 0.16419938256898284, -0.530028639171909, 0.7806925420805801, 0.12135306164278517, 0.498197548666186], "std": [0.16167584649545033, 0.02232355567819258, 0.258030607668409, 0.015898052224606232, 1.4714240756761503, 1.6058080895612377, 0.03445458591912739, 0.04895099626695714, 0.21301869102654766, 0.12564195679261622, 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There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is to the right of the brown rod stop. The brown rack back is in front of the gray peg 2. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is to the right of the brown rod stop. The brown rod stop is to the left of the white rod s. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[rod stop]]\n\n\n\n [ring small]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationRing", + "instruction": "Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.", + "template_id": -1, + "slots": { + "obj": 1.5550128215050711, + "support": null + }, + "generic_instruction": "Stationring the 1.5550128215050711.", + "task_id": "N033", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0544": { + "frame_idx": 544, + "caption": "Computing a grasp pose for the small ring; the right gripper is below and to the left of and in front of the ring.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0572": { + "frame_idx": 572, + "caption": "Working on the small ring; the right gripper is below and to the left of and in front of the ring.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0848": { + "frame_idx": 848, + "caption": "Computing a grasp pose for the small ring; the right gripper is below and to the left of and in front of the ring.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0862": { + "frame_idx": 862, + "caption": "Pre-grasping the small ring, servoing the arm toward it; the right gripper 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3):torch.float32", + "/robot_state[0]/Go2Plus/base_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32", + "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32", + "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32" + ], + "n_success": 1, + "elapsed_s": 879.0, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 25.3 + } +} diff --git a/N033/go2_arm/dr_on/seed_2038/check.json b/N033/go2_arm/dr_on/seed_2038/check.json new file mode 100644 index 0000000000000000000000000000000000000000..7a16110687879450eb54779b896e6585a5ecc1f8 --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2038/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1438 rows vs ceil(2876/2) = 1438" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..2975, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "21.44 MB, 1438 frames at 25 fps, mean luma 102..121, std 18, new picture 1437x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1438 vs 1438" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "36.48 MB, 1438 frames at 25 fps, mean luma 67..144, std 27, new picture 1437x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1438 vs 1438" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationring/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N033/go2_arm/dr_on/seed_2038/check.txt b/N033/go2_arm/dr_on/seed_2038/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..b403861de8aa6d9f1df9bdb95791f4c947ddca0b --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2038/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_go2_on_2038/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_go2_on_2038/out/rec/stationring/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1438 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: 1438 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.' +rows 1438 at dataset fps 25 = 57.52 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1438 rows vs ceil(2876/2) = 1438 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..2975, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 21.44 MB, 1438 frames at 25 fps, mean luma 102..121, std 18, new picture 1437x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1438 vs 1438 +[PASS] video observation.images.wrist decodes, 640x480, not black: 36.48 MB, 1438 frames at 25 fps, mean luma 67..144, std 27, new picture 1437x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1438 vs 1438 +parquet size 4.64 MB +[PASS] sim_info present: rec/stationring/000/sim_info +dataset size 62.83 MB; whole cell dir 64.3 MB +RESULT: ALL PASS diff --git a/N033/go2_arm/dr_on/seed_2038/rec/stationring/000/completed/0.json b/N033/go2_arm/dr_on/seed_2038/rec/stationring/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..c24e4e92ce410caf19b3ef731d95205d50917856 --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2038/rec/stationring/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationring/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N033/go2_arm/dr_on/seed_2038/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/go2_arm/dr_on/seed_2038/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..7de4733cb80cc532b4ba88f56d715ffb2f2e3fef --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2038/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79c74ef393b9344dd7468656a84cc647fa720fb5cf7e7d24b00aa8fe9788e9e6 +size 4636030 diff --git a/N033/go2_arm/dr_on/seed_2038/rec/stationring/000/lerobot_v21/meta/episodes.jsonl b/N033/go2_arm/dr_on/seed_2038/rec/stationring/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aff89f9021d51a9123633462e469bf6fe105254d --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2038/rec/stationring/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end."], "length": 1438, "magicsim/control_steps": 2876, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown rod stop. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is to the right of the brown rod stop. The brown rack back is in front of the gray peg 2. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is to the right of the brown rod stop. The brown rod stop is to the left of the white rod s. The scene is viewed from front, at table height."} diff --git a/N033/go2_arm/dr_on/seed_2038/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/go2_arm/dr_on/seed_2038/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..643cf6a479dbefeb12ff9b673fcae1b8f7eaec68 --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2038/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.14168884242873156, -0.0006759403783812476, 0.0269749296313574, 0.3554325521779823, 0.3439058706019286, 0.6971720479356232, 0.7017064802918547, 0.10455118030599825, -0.5384283472417293, 0.7973551455475856, 0.07371012353298147, 0.49235048678720444], "std": [0.15925130409168453, 0.022547377506121298, 0.24676480850984508, 0.018378810848044814, 1.4943169073419993, 1.6139913506075423, 0.045201280622473174, 0.012821821592025422, 0.2104648927777342, 0.11227629653396447, 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positioned at the workspace, facing the brown rod stop. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is to the right of the brown rod stop. The brown rack back is in front of the gray peg 2. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is to the right of the brown rod stop. The brown rod stop is to the left of the white rod s. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[rod stop]\n\n\n\n [ring small]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationRing", + "instruction": "Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.", + "template_id": -1, + "slots": { + "obj": 1.5780843563559408, + "support": null + }, + "generic_instruction": "Stationring the 1.5780843563559408.", + "task_id": "N033", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0511": { + "frame_idx": 511, + "caption": "Computing a grasp pose for the small ring; the right gripper is below and to the left of and in front of the ring.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0538": { + "frame_idx": 538, + "caption": "Working on the small ring; the right gripper is below and to the left of and in front of the ring.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0806": { + "frame_idx": 806, + "caption": "Computing a grasp pose for the small ring; the right gripper is below and to the left of and in front of the ring.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0820": { + "frame_idx": 820, + "caption": "Pre-grasping the small ring, servoing the arm toward it; the right gripper is below and to the left of and in front of the ring.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0822": { + "frame_idx": 822, + "caption": "Pre-grasping the small ring, moving the arm toward it; the right gripper is below and to the left of and in front of the ring.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0847": { + "frame_idx": 847, + "caption": "Pre-grasping the small ring, moving the arm toward it; the right gripper is below and to the left of the ring.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_0868": { + "frame_idx": 868, + "caption": "Pre-grasping the small ring, moving the arm toward it; the right gripper is below the ring.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_0875": { + "frame_idx": 875, + "caption": "Grasping the small ring, moving the arm in to make contact; the right gripper is below the ring.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_0938": { + "frame_idx": 938, + "caption": "Closing the right gripper on the ring; the right gripper is below the ring.", + "skill": "Grasp", + "phase": "close_gripper", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_0998": { + "frame_idx": 998, + "caption": "Lifting the ring away with the gripper; the right gripper is below the ring.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "ParallelGripper", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_0999": { + "frame_idx": 999, + "caption": "Lifting the ring away with the arm; the right gripper is below the ring.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1059": { + "frame_idx": 1059, + "caption": "Done — the small ring is grasped; the right gripper is below the ring.", + "skill": "Grasp", + "phase": 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"/robot_state[0]/Go2Plus/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32", + "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32", + "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32" + ], + "n_success": 1, + "elapsed_s": 969.8, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 26.6 + } +} diff --git a/N033/sawyer_umi/dr_off/seed_1039/check.json b/N033/sawyer_umi/dr_off/seed_1039/check.json new file mode 100644 index 0000000000000000000000000000000000000000..9bc012680320835689a3c6de1210035e2ddcbaee --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1039/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 first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2224 rows vs ceil(4447/2) = 2224" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4547, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "27.47 MB, 2224 frames at 25 fps, mean luma 98..150, std 26, new picture 2223x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2224 vs 2224" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "38.15 MB, 2224 frames at 25 fps, mean luma 105..149, std 23, new picture 2223x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2224 vs 2224" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationringxr/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N033/sawyer_umi/dr_off/seed_1039/check.txt b/N033/sawyer_umi/dr_off/seed_1039/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..f41f4fc4ea2fa71d982d2132b10b5ed4cdef18b8 --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1039/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_saw_off_1039/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_saw_off_1039/out/rec/stationringxr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2224 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: 2224 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 first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.' +rows 2224 at dataset fps 25 = 88.96 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2224 rows vs ceil(4447/2) = 2224 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4547, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 27.47 MB, 2224 frames at 25 fps, mean luma 98..150, std 26, new picture 2223x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2224 vs 2224 +[PASS] video observation.images.wrist decodes, 640x480, not black: 38.15 MB, 2224 frames at 25 fps, mean luma 105..149, std 23, new picture 2223x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2224 vs 2224 +parquet size 2.85 MB +[PASS] sim_info present: rec/stationringxr/000/sim_info +dataset size 68.69 MB; whole cell dir 70.0 MB +RESULT: ALL PASS diff --git a/N033/sawyer_umi/dr_off/seed_1039/rec/stationringxr/000/completed/0.json b/N033/sawyer_umi/dr_off/seed_1039/rec/stationringxr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..91a50a443cc1602752f4a6179432b21f7f41bb42 --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1039/rec/stationringxr/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationringxr/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N033/sawyer_umi/dr_off/seed_1039/rec/stationringxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/sawyer_umi/dr_off/seed_1039/rec/stationringxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..d0d461b3a2224c5687c001c487c44ef329800bc0 --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1039/rec/stationringxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1dbafc953857ab2e147e13544d50f95fc44a150183876b2035a46cf6663d08ba +size 2848829 diff --git a/N033/sawyer_umi/dr_off/seed_1039/rec/stationringxr/000/lerobot_v21/meta/episodes.jsonl b/N033/sawyer_umi/dr_off/seed_1039/rec/stationringxr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..27e41f09bd779d938405d8c74cf0b52080a4add3 --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1039/rec/stationringxr/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end."], "length": 2224, "magicsim/control_steps": 4447, "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 ring. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is to the right of the brown rod stop. The brown rack back is to the left of the gray peg 1. The gray peg 2 is on top of the ring. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is to the right of the brown rod stop. The brown rod stop is to the left of the white rod s. The scene is viewed from front, at table height."} diff --git a/N033/sawyer_umi/dr_off/seed_1039/rec/stationringxr/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/sawyer_umi/dr_off/seed_1039/rec/stationringxr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..00170d0ced9073af8bb74b362c13cf06297a333a --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1039/rec/stationringxr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.08500993641038097, -0.0012566449226168314, 0.012041985067580165, 0.5459498933268537, 0.742103782475745, 1.0479341733852308, -0.247545453605892, -0.06932005925644265, -0.26790839768008146, 0.1704704642657099, 0.4676258992805755], "std": [0.11852322227815659, 0.02039620476199253, 0.19103174505858297, 1.3873991169015214, 1.6256361762752398, 0.20294184149209907, 0.6114083626278047, 0.11826540216001814, 0.5333583361752983, 0.40100215440588155, 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"mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.4, + -2.2, + 0.05 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the ring. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is to the right of the brown rod stop. The brown rack back is to the left of the gray peg 1. The gray peg 2 is on top of the ring. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is to the right of the brown rod stop. The brown rod stop is to the left of the white rod s. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[rod stop]\n\n\n\n [ring small]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationRingXR", + "instruction": "Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.", + "template_id": -1, + "slots": { + "obj": 1.5737067481726006, + "support": null + }, + "generic_instruction": "Stationringxr the 1.5737067481726006.", + "task_id": "N033", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": {} + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N033/sawyer_umi/dr_off/seed_1039/rec/stationringxr/000/lerobot_v21/meta/info.json b/N033/sawyer_umi/dr_off/seed_1039/rec/stationringxr/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..48ecb9e9ea9bf689c80678e93cb545cf084fe762 --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1039/rec/stationringxr/000/lerobot_v21/meta/info.json @@ -0,0 +1,317 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 2224, + "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": { + "dtype": "float32", + "shape": [ + 70 + ], + "names": [ + "object_pose.peg_1.0", + "object_pose.peg_1.1", + "object_pose.peg_1.2", + "object_pose.peg_1.3", + "object_pose.peg_1.4", + "object_pose.peg_1.5", + "object_pose.peg_1.6", + "object_pose.peg_2.0", + "object_pose.peg_2.1", + "object_pose.peg_2.2", + "object_pose.peg_2.3", + "object_pose.peg_2.4", + "object_pose.peg_2.5", + "object_pose.peg_2.6", + "object_pose.rack_back.0", + "object_pose.rack_back.1", + "object_pose.rack_back.2", + "object_pose.rack_back.3", + "object_pose.rack_back.4", + "object_pose.rack_back.5", + "object_pose.rack_back.6", + "object_pose.ring.0", + "object_pose.ring.1", + "object_pose.ring.2", + "object_pose.ring.3", + "object_pose.ring.4", + "object_pose.ring.5", + "object_pose.ring.6", + "object_pose.ring_small.0", + "object_pose.ring_small.1", + "object_pose.ring_small.2", + "object_pose.ring_small.3", + 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"object_pose.table_B.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 912 + ], + "names": null + }, + "action.applied": { + "dtype": "float32", + "shape": [ + 12 + ], + "names": null + }, + "narration": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "collect_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "extra.reward": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "extra.action_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "sim_step_idx": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + 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a/N033/sawyer_umi/dr_off/seed_1039/rec/stationringxr/000/lerobot_v21/meta/magicsim_manifest.json b/N033/sawyer_umi/dr_off/seed_1039/rec/stationringxr/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..edcaea4980583ce4497f5f2f2e60d017b62a162f --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1039/rec/stationringxr/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,264 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 06:54:50" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_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" + ] + } + ] + }, + "timing": { + "fps": 50.0, + 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+ "entry_s": 0.0, + "max_s": 0.272, + "lost_count": 0, + "at_rest": true + }, + "decoy": { + "ring_small": { + "lift": 0.0, + "max_lift_near_wrist": 0.0, + "dist_wrist": 3.6 + } + }, + "rod_length": 0.28, + "released": true, + "other_rings_on_rod": [], + "manipulation_success": true + }, + "route": [ + "A", + "B" + ], + "total_path_m": 7.71, + "planner_seeds": "default" + } + ], + "error": null, + "collect": { + "task": "N033", + "robot": "sawyer_umi", + "visual_dr": false, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N033", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "0" + }, + "cameras": { + "head": { + "link": "Robot_0/head", + "pos": [ + 0.2166, + 0.0, + -0.045 + ], + "ori": [ + -0.0, + 35.0, + -90.0 + ], + "focal_length": 2.0, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7 + }, + "wrist": { + "link": "Robot_0/right_electric_gripper_base", + "pos": [ + 0.0598, + 0.0, + 0.03 + ], + "ori": [ + 180.0, + 0.0, + -90.0 + ], + "focal_length": 1.8, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/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" + ], + "n_success": 1, + "elapsed_s": 1144.4, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 40.6 + } +} diff --git a/N033/stretch3/dr_off/seed_1044/check.json b/N033/stretch3/dr_off/seed_1044/check.json new file mode 100644 index 0000000000000000000000000000000000000000..f605c041a0b30e5ba373cbc800da3a67e2e9d609 --- /dev/null +++ b/N033/stretch3/dr_off/seed_1044/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2114 rows vs ceil(4228/2) = 2114" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4327, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "20.41 MB, 2114 frames at 25 fps, mean luma 119..155, std 13, new picture 2113x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2114 vs 2114" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "44.33 MB, 2114 frames at 25 fps, mean luma 117..157, std 28, new picture 2113x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2114 vs 2114" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationringstretch/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N033/stretch3/dr_off/seed_1044/check.txt b/N033/stretch3/dr_off/seed_1044/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..6a640522c47096c85afcd084c57513d25659d24a --- /dev/null +++ b/N033/stretch3/dr_off/seed_1044/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_str_off_1044/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_str_off_1044/out/rec/stationringstretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2114 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: 2114 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.' +rows 2114 at dataset fps 25 = 84.56 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2114 rows vs ceil(4228/2) = 2114 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4327, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 20.41 MB, 2114 frames at 25 fps, mean luma 119..155, std 13, new picture 2113x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2114 vs 2114 +[PASS] video observation.images.wrist decodes, 640x480, not black: 44.33 MB, 2114 frames at 25 fps, mean luma 117..157, std 28, new picture 2113x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2114 vs 2114 +parquet size 3.20 MB +[PASS] sim_info present: rec/stationringstretch/000/sim_info +dataset size 68.15 MB; whole cell dir 69.6 MB +RESULT: ALL PASS diff --git a/N033/stretch3/dr_off/seed_1044/rec/stationringstretch/000/completed/0.json b/N033/stretch3/dr_off/seed_1044/rec/stationringstretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..fd3e4ff594cda366fc3a512d000e9a5e190a83f8 --- /dev/null +++ b/N033/stretch3/dr_off/seed_1044/rec/stationringstretch/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationringstretch/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N033/stretch3/dr_off/seed_1044/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/stretch3/dr_off/seed_1044/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..87efb9d62f388b26375548fab345b45fc4f9c13a --- /dev/null +++ b/N033/stretch3/dr_off/seed_1044/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a5c5a99f2b298245b17d8efddff128644e43444a62326a867951caa2490be875 +size 3195126 diff --git a/N033/stretch3/dr_off/seed_1044/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl b/N033/stretch3/dr_off/seed_1044/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7a0123976ce26d34156e682f3e217de3e1d55d87 --- /dev/null +++ b/N033/stretch3/dr_off/seed_1044/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end."], "length": 2114, "magicsim/control_steps": 4228, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the brown rod stop. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is to the right of the brown rod stop. The brown rack back is to the left of the gray peg 1. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is to the right of the brown rod stop. The brown rod stop is to the left of the white rod s. The scene is viewed from front, slightly above table height."} diff --git a/N033/stretch3/dr_off/seed_1044/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/stretch3/dr_off/seed_1044/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7455b861003274656d0d3e1da47f103f94dff286 --- /dev/null +++ b/N033/stretch3/dr_off/seed_1044/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [-0.0053397398605033435, 0.0, 0.03305162903487104, 0.514976031997205, 0.7269369606651161, 0.7407806201035275, -0.2370712931400963, 0.09602930559362804, -0.003823446917166518, -0.12455471523296416, 0.413434247871334], "std": [0.16016315924040825, 0.0, 0.20067612794521245, 1.3782419390525555, 1.602700500362549, 0.10169745043654177, 0.6053559925416089, 0.324442889100828, 0.449797615873085, 0.49498480462790906, 0.492449358369365], "min": 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null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.4, + -2.2, + 0.06 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the brown rod stop. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is to the right of the brown rod stop. The brown rack back is to the left of the gray peg 1. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is to the right of the brown rod stop. The brown rod stop is to the left of the white rod s. The scene is viewed from front, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[rod stop]\n\n\n\n [ring small]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationRingStretch", + "instruction": "Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.", + "template_id": -1, + "slots": { + "obj": 3.027853194372751, + "support": null + }, + "generic_instruction": "Stationringstretch the 3.027853194372751.", + "task_id": "N033", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": {} + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N033/stretch3/dr_off/seed_1044/rec/stationringstretch/000/lerobot_v21/meta/info.json b/N033/stretch3/dr_off/seed_1044/rec/stationringstretch/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..88ecf30a71cbb8d0c5fe9b20190df69ff9c28154 --- /dev/null +++ b/N033/stretch3/dr_off/seed_1044/rec/stationringstretch/000/lerobot_v21/meta/info.json @@ -0,0 +1,319 @@ +{ + "codebase_version": "v2.1", + "robot_type": "HelloRobotCfg", + "total_episodes": 1, + "total_frames": 2114, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "arm_action_0", + "arm_action_1", + "arm_action_2", + 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"joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 70 + ], + "names": [ + "object_pose.peg_1.0", + "object_pose.peg_1.1", + "object_pose.peg_1.2", + "object_pose.peg_1.3", + "object_pose.peg_1.4", + "object_pose.peg_1.5", + "object_pose.peg_1.6", + "object_pose.peg_2.0", + "object_pose.peg_2.1", + "object_pose.peg_2.2", + "object_pose.peg_2.3", + "object_pose.peg_2.4", + "object_pose.peg_2.5", + "object_pose.peg_2.6", + "object_pose.rack_back.0", + "object_pose.rack_back.1", + "object_pose.rack_back.2", + "object_pose.rack_back.3", + "object_pose.rack_back.4", + "object_pose.rack_back.5", + "object_pose.rack_back.6", + "object_pose.ring.0", + "object_pose.ring.1", + "object_pose.ring.2", + "object_pose.ring.3", + "object_pose.ring.4", + "object_pose.ring.5", + "object_pose.ring.6", 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"video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N033/stretch3/dr_off/seed_1044/rec/stationringstretch/000/lerobot_v21/meta/magicsim_manifest.json b/N033/stretch3/dr_off/seed_1044/rec/stationringstretch/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..8ce93d078f15b639a3709a26f0adeb1c8bc9c43c --- /dev/null +++ b/N033/stretch3/dr_off/seed_1044/rec/stationringstretch/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 06:51:26" + }, + "embodiment": { + "robots": [ + { + "name": "HelloRobot", + "cfg": "HelloRobotCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + 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"manipulation_success": true + }, + "route": [ + "A", + "B" + ], + "total_path_m": 7.64, + "planner_seeds": "default" + } + ], + "error": null, + "collect": { + "task": "N033", + "robot": "stretch3", + "visual_dr": false, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N033", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "0" + }, + "cameras": { + "head": { + "link": "Robot_0/base_link", + "pos": [ + 0.049771, + -0.002942, + 1.295723 + ], + "ori": [ + 0.0002, + -55.623, + -90.0 + ], + "focal_length": 2.73834228515625, + "horizontal_aperture": 2.1600000858306885, + "vertical_aperture": 1.62 + }, + "wrist": { + "link": "Robot_0/link_gripper_s3_body", + "pos": [ + 0.009, + 0.062939, + 0.056398 + ], + "ori": [ + -170.0021, + 0.0, + -179.9998 + ], + "focal_length": 1.280753493309021, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.44 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/HelloRobot/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/joint_effort:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_pos:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_vel:(1, 15):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1090.6, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 33.5 + } +} diff --git a/N033/stretch3/dr_on/seed_2054/check.json b/N033/stretch3/dr_on/seed_2054/check.json new file mode 100644 index 0000000000000000000000000000000000000000..57caf959037b0499ab0b1d2dbe289870d36686cd --- /dev/null +++ b/N033/stretch3/dr_on/seed_2054/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2076 rows vs ceil(4152/2) = 2076" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4251, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "114.73 MB, 2076 frames at 25 fps, mean luma 68..105, std 25, new picture 2062x = 24.8 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2076 vs 2076" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "84.78 MB, 2076 frames at 25 fps, mean luma 60..131, std 41, new picture 2075x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2076 vs 2076" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationringstretch/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N033/stretch3/dr_on/seed_2054/check.txt b/N033/stretch3/dr_on/seed_2054/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..22e410770aac3330a7edc86aaa71aad3477e8a2b --- /dev/null +++ b/N033/stretch3/dr_on/seed_2054/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_str_on_2054/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_str_on_2054/out/rec/stationringstretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2076 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: 2076 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.' +rows 2076 at dataset fps 25 = 83.04 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2076 rows vs ceil(4152/2) = 2076 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4251, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 114.73 MB, 2076 frames at 25 fps, mean luma 68..105, std 25, new picture 2062x = 24.8 per s +[PASS] video observation.images.head frames = parquet rows: 2076 vs 2076 +[PASS] video observation.images.wrist decodes, 640x480, not black: 84.78 MB, 2076 frames at 25 fps, mean luma 60..131, std 41, new picture 2075x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2076 vs 2076 +parquet size 3.09 MB +[PASS] sim_info present: rec/stationringstretch/000/sim_info +dataset size 202.82 MB; whole cell dir 204.2 MB +RESULT: ALL PASS diff --git a/N033/stretch3/dr_on/seed_2054/rec/stationringstretch/000/completed/0.json b/N033/stretch3/dr_on/seed_2054/rec/stationringstretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..fd3e4ff594cda366fc3a512d000e9a5e190a83f8 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2054/rec/stationringstretch/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationringstretch/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N033/stretch3/dr_on/seed_2054/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/stretch3/dr_on/seed_2054/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..9a7444c22f7c9f771e33c9260daf83090181630f --- /dev/null +++ b/N033/stretch3/dr_on/seed_2054/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dfa758af623e665f31e25093b0fa07c145c8912c9388882de5f6be7ec114f43f +size 3086557 diff --git a/N033/stretch3/dr_on/seed_2054/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl b/N033/stretch3/dr_on/seed_2054/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2839db6411554234c37b293de395b39c1cb300c1 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2054/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end."], "length": 2076, "magicsim/control_steps": 4152, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the brown rod stop. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is to the right of the brown rod stop. The brown rack back is in front of the gray peg 2. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is to the right of the brown rod stop. The brown rod stop is to the left of the white rod s. The scene is viewed from front, slightly above table height."} diff --git a/N033/stretch3/dr_on/seed_2054/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/stretch3/dr_on/seed_2054/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9ab599427fb5f9f01db4bdbbce958f78c43e19c5 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2054/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [-0.015556838948850257, 0.0, 0.03195185247119624, 0.24186722563690935, 0.8477093491430514, 0.7431821935381274, -0.19705993244119405, 0.11061267851202532, 0.01003694098822475, -0.14457227997686223, 0.4325626204238921], "std": [0.15733138395132046, 0.0, 0.20788394676921376, 1.2995501992342147, 1.6521727211965236, 0.1029175309336543, 0.5944074501299629, 0.33939067434789355, 0.44597031531498205, 0.5104257398290235, 0.49543132706350546], 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There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is to the right of the brown rod stop. The brown rack back is in front of the gray peg 2. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is to the right of the brown rod stop. The brown rod stop is to the left of the white rod s. The scene is viewed from front, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[rod stop]\n\n\n\n [[ring small]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationRingStretch", + "instruction": "Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.", + "template_id": -1, + "slots": { + "obj": 3.060963903669573, + "support": null + }, + "generic_instruction": "Stationringstretch the 3.060963903669573.", + "task_id": "N033", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": {} + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N033/stretch3/dr_on/seed_2054/rec/stationringstretch/000/lerobot_v21/meta/info.json 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-0.002942, + 1.295723 + ], + "ori": [ + 0.0002, + -55.623, + -90.0 + ], + "focal_length": 2.73834228515625, + "horizontal_aperture": 2.1600000858306885, + "vertical_aperture": 1.62 + }, + "wrist": { + "link": "Robot_0/link_gripper_s3_body", + "pos": [ + 0.009, + 0.062939, + 0.056398 + ], + "ori": [ + -170.0021, + 0.0, + -179.9998 + ], + "focal_length": 1.280753493309021, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.44 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/HelloRobot/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/joint_effort:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_pos:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_vel:(1, 15):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1157.4, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 37.7 + } +} diff --git a/N034/go2_arm/dr_on/seed_2048/check.json b/N034/go2_arm/dr_on/seed_2048/check.json new file mode 100644 index 0000000000000000000000000000000000000000..5d3f525a0eae65e29935a281b0982ea62c8b92e5 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2048/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1854 rows vs ceil(3707/2) = 1854" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..3807, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "38.53 MB, 1854 frames at 25 fps, mean luma 79..135, std 45, new picture 1853x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1854 vs 1854" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "43.67 MB, 1854 frames at 25 fps, mean luma 89..173, std 27, new picture 1853x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1854 vs 1854" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationbookend/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_on/seed_2048/check.txt b/N034/go2_arm/dr_on/seed_2048/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..f3143e659632ade2c8602015d91ce422e58429d1 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2048/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_go2_on_2048/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_go2_on_2048/out/rec/stationbookend/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1854 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: 1854 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.' +rows 1854 at dataset fps 25 = 74.16 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1854 rows vs ceil(3707/2) = 1854 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..3807, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 38.53 MB, 1854 frames at 25 fps, mean luma 79..135, std 45, new picture 1853x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1854 vs 1854 +[PASS] video observation.images.wrist decodes, 640x480, not black: 43.67 MB, 1854 frames at 25 fps, mean luma 89..173, std 27, new picture 1853x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1854 vs 1854 +parquet size 7.22 MB +[PASS] sim_info present: rec/stationbookend/000/sim_info +dataset size 89.69 MB; whole cell dir 91.4 MB +RESULT: ALL PASS diff --git a/N034/go2_arm/dr_on/seed_2048/rec/stationbookend/000/completed/0.json b/N034/go2_arm/dr_on/seed_2048/rec/stationbookend/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..92774b53003e83bf90b8dbc14d938d81cff5769c --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2048/rec/stationbookend/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationbookend/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N034/go2_arm/dr_on/seed_2048/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/go2_arm/dr_on/seed_2048/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..825f741768d4452c02e0e8f57b044fd1cba38d0a --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2048/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:85d66135495487ad6c73adbdfd43638affdec620e15152905058e87414c88721 +size 7217336 diff --git a/N034/go2_arm/dr_on/seed_2048/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl b/N034/go2_arm/dr_on/seed_2048/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c7ad1e15b6f0086a9dc5fb63c2e96d1ee2dac228 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2048/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 1854, "magicsim/control_steps": 3707, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown slot right. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot right. The gray plate is behind the bookend. The bookend is in front of the gray plate. The scene is viewed from front, at table height."} diff --git a/N034/go2_arm/dr_on/seed_2048/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/go2_arm/dr_on/seed_2048/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1a64c84e031fc3f7ffb424d7c4f3c6413f39f7ee --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2048/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.10861214463917504, -0.001026394061177583, 0.017623278378692837, 0.32636373870259605, 0.8273754499876769, 1.089631745513396, 0.6507557774085185, 0.09709650189156781, -0.4581141875152876, 0.8317387884938858, 0.06409390423714668, 0.6601941747572816], "std": [0.13571179677083844, 0.018422474150306734, 0.22506748536104168, 0.03211624879732247, 1.3242520877274184, 1.748696668020008, 0.05784896492343977, 0.04386569231368021, 0.260800158080797, 0.11590386954266584, 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"go2plus", + "type": "mobilemanip", + "noun": "Unitree Go2 EDU quadruped with a Piper arm", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.4, + -2.2, + 0.44999999999999996 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown slot right. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot right. The gray plate is behind the bookend. The bookend is in front of the gray plate. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[[[bookend]\n\n\n\n [slot [book]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationBookend", + "instruction": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.", + "template_id": -1, + "slots": { + "obj": 1.5543016741931859, + "support": null + }, + "generic_instruction": "Stationbookend the 1.5543016741931859.", + "task_id": "N034", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0559": { + "frame_idx": 559, + "caption": "Computing a grasp pose for the small red book; the right gripper is below and to the left of and in front of the red book.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0586": { + "frame_idx": 586, + "caption": "Working on the small red book; the right gripper is below and to the left of and in front of the red book.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0879": { + "frame_idx": 879, + "caption": "Computing a grasp pose for the small red book; the right gripper is below and to the left of and in front of the red book.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0893": { + "frame_idx": 893, + "caption": "Pre-grasping the small red book, servoing the arm toward it; the right gripper is below and to the left of and in front of the red book.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0894": { + "frame_idx": 894, + "caption": "Pre-grasping the small red book, moving the arm toward it; the right gripper is below and to the left of and in front of the red book.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0926": { + "frame_idx": 926, + "caption": "Pre-grasping the small red book, moving the arm toward it; the right gripper is below and to the left of the red book.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_0947": { + "frame_idx": 947, + "caption": "Grasping the small red book, moving the arm in to make contact; the right gripper is below and to the left of the red book.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1009": { + "frame_idx": 1009, + "caption": "Closing the right gripper on the red book; the right gripper is below and to the left of the red book.", + "skill": "Grasp", + "phase": "close_gripper", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1069": { + "frame_idx": 1069, + "caption": "Lifting the red book away with the gripper; the right gripper is below and to the left of the red book.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "ParallelGripper", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1070": { + "frame_idx": 1070, + "caption": "Lifting the red book away with the arm; the right gripper is below and to the left of the red book.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1132": { + "frame_idx": 1132, + "caption": "Done — the small red book is grasped; the right gripper is below and to the left of the red book.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_2935": { + "frame_idx": 2935, + "caption": "Computing a grasp pose for the small bookend; the right gripper is below and to the left of the bookend.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "bookend_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_2960": { + "frame_idx": 2960, + "caption": "Working on the small bookend; the right gripper is below and to the left of the bookend.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "bookend_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_3000": { + "frame_idx": 3000, + "caption": "Working on the small bookend; the right gripper is below and to the left of and behind the bookend.", + "skill": "ReachStance", + "phase": "walk", + 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"record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/Go2Plus/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32", + "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32", + "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1397.4, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 37.1 + } +} diff --git a/N034/go2_arm/dr_on/seed_2049/check.json b/N034/go2_arm/dr_on/seed_2049/check.json new file mode 100644 index 0000000000000000000000000000000000000000..af16a4e50407b2614671479e01ff3d45f866ff0b --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2049/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1980 rows vs ceil(3959/2) = 1980" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4059, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "37.43 MB, 1980 frames at 25 fps, mean luma 46..120, std 50, new picture 1979x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1980 vs 1980" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "43.21 MB, 1980 frames at 25 fps, mean luma 80..138, std 23, new picture 1979x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1980 vs 1980" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationbookend/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_on/seed_2049/check.txt b/N034/go2_arm/dr_on/seed_2049/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..a11ba5f48eb0825a85a6f545a7a51287c9abd1d7 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2049/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_go2_on_2049/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_go2_on_2049/out/rec/stationbookend/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1980 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: 1980 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.' +rows 1980 at dataset fps 25 = 79.20 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1980 rows vs ceil(3959/2) = 1980 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4059, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 37.43 MB, 1980 frames at 25 fps, mean luma 46..120, std 50, new picture 1979x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1980 vs 1980 +[PASS] video observation.images.wrist decodes, 640x480, not black: 43.21 MB, 1980 frames at 25 fps, mean luma 80..138, std 23, new picture 1979x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1980 vs 1980 +parquet size 14.88 MB +[PASS] sim_info present: rec/stationbookend/000/sim_info +dataset size 95.79 MB; whole cell dir 97.7 MB +RESULT: ALL PASS diff --git a/N034/go2_arm/dr_on/seed_2049/rec/stationbookend/000/completed/0.json b/N034/go2_arm/dr_on/seed_2049/rec/stationbookend/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..92774b53003e83bf90b8dbc14d938d81cff5769c --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2049/rec/stationbookend/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationbookend/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N034/go2_arm/dr_on/seed_2049/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/go2_arm/dr_on/seed_2049/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..4430a81dd5940fbd77c0d6ef15c9c5cbbc009a6e --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2049/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c84bd16de0e29682a349c53363375c19b638e7ace815d874b32a13b1778a5243 +size 14881180 diff --git a/N034/go2_arm/dr_on/seed_2049/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl b/N034/go2_arm/dr_on/seed_2049/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c53de305f36440cf90e3473bb63243ee96d8f4ce --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2049/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 1980, "magicsim/control_steps": 3959, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown slot right. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is in front of the brown slot left. The gray table B is to the left of the bookend. The red book is on top of the brown slot right. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front-right, at table height."} diff --git a/N034/go2_arm/dr_on/seed_2049/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/go2_arm/dr_on/seed_2049/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5fc42ecf1a79834d78f63bac2a331c0b3c646e81 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2049/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.10914994202403709, -0.0029156942071035656, 0.01765703794977397, 0.3283572968659979, 1.0762208192486955, 1.3869253978057943, 0.6518433111484605, 0.10204070680909978, -0.45323937580123486, 0.8382172667618953, 0.06280083105691552, 0.6757575757575758], "std": [0.1359651768828393, 0.025434274513964995, 0.24712039510683378, 0.03287515387645821, 1.4664306108927185, 1.7142614495833417, 0.05626520424258008, 0.04676862978968983, 0.24721208022850344, 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b/N034/go2_arm/dr_on/seed_2049/rec/stationbookend/000/lerobot_v21/meta/extra/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..00eb2b0bb8e791a4d2f62961b4e200cdf471df94 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2049/rec/stationbookend/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,659 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "BookendCommand", + "subsample_every": 2, + "control_steps": 3959, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 3.5082404472787867, + -1.5248404144463106, + -0.19888646314030023 + ], + "bbox": { + "extent": [ + 0.9649272191853429, + 0.6168690343529891, + 0.30000001192092896 + ], + "center": [ + -5.551115123125783e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + 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[], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown slot right. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is in front of the brown slot left. The gray table B is to the left of the bookend. The red book is on top of the brown slot right. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front-right, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [bookend]\n\n\n\n [slot [book]\n\n\n\n[robot]" + }, + "task": { + "task_type": "StationBookend", + "instruction": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.", + "template_id": -1, + "slots": { + "obj": 1.5056844925605066, + "support": null + }, + "generic_instruction": "Stationbookend the 1.5056844925605066.", + "task_id": "N034", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0579": { + "frame_idx": 579, + "caption": "Computing a grasp pose for the small red book; the right gripper is below and to the left of and in front of the red book.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + 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"/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32", + "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32", + "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1361.7, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 31.2 + } +} diff --git a/N034/go2_arm/dr_on/seed_2051/check.json b/N034/go2_arm/dr_on/seed_2051/check.json new file mode 100644 index 0000000000000000000000000000000000000000..ceb8e54ca10d429b3a3e0c6399632a682d41c8eb --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2051/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1893 rows vs ceil(3785/2) = 1893" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..3885, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "40.93 MB, 1893 frames at 25 fps, mean luma 66..91, std 44, new picture 1892x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1893 vs 1893" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "39.14 MB, 1893 frames at 25 fps, mean luma 81..136, std 21, new picture 1892x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1893 vs 1893" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationbookend/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_on/seed_2051/check.txt b/N034/go2_arm/dr_on/seed_2051/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..5d233c370119f0fb28209c08e88cdbb07af297c1 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2051/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_go2_on_2051/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_go2_on_2051/out/rec/stationbookend/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1893 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: 1893 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.' +rows 1893 at dataset fps 25 = 75.72 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1893 rows vs ceil(3785/2) = 1893 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..3885, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 40.93 MB, 1893 frames at 25 fps, mean luma 66..91, std 44, new picture 1892x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1893 vs 1893 +[PASS] video observation.images.wrist decodes, 640x480, not black: 39.14 MB, 1893 frames at 25 fps, mean luma 81..136, std 21, new picture 1892x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1893 vs 1893 +parquet size 6.63 MB +[PASS] sim_info present: rec/stationbookend/000/sim_info +dataset size 86.97 MB; whole cell dir 88.7 MB +RESULT: ALL PASS diff --git a/N034/go2_arm/dr_on/seed_2051/rec/stationbookend/000/completed/0.json b/N034/go2_arm/dr_on/seed_2051/rec/stationbookend/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..92774b53003e83bf90b8dbc14d938d81cff5769c --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2051/rec/stationbookend/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationbookend/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N034/go2_arm/dr_on/seed_2051/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/go2_arm/dr_on/seed_2051/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..78ff0f17b5926a302511edcbd29f4612d747ebf7 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2051/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5430078de185a9cd58d07cc043243a7bfa1a3554a92b4640a3e8ee95afaa7d24 +size 6628716 diff --git a/N034/go2_arm/dr_on/seed_2051/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl b/N034/go2_arm/dr_on/seed_2051/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..95772c218bd524229626e9606fe145d3be1b3e5c --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2051/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 1893, "magicsim/control_steps": 3785, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown slot right. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot left. The gray table B is to the left of the bookend. The red book is on top of the brown slot right. The gray plate is on top of the bookend. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height."} diff --git a/N034/go2_arm/dr_on/seed_2051/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/go2_arm/dr_on/seed_2051/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..233f088a6f73b833abf51de34667cbd8af39fa56 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2051/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.10713192935082501, -0.0003436090143242968, 0.014715641486134756, 0.3237995201012349, 0.8622634136292648, 1.193782206634586, 0.6478928771052987, 0.10101407144076746, -0.45123114341223486, 0.8396242392862907, 0.06561893559405624, 0.6613840464870576], "std": [0.1377650170306609, 0.02219046315085651, 0.20858339234884102, 0.03229245991213508, 1.4940028361653503, 1.700487811316587, 0.05932214498544437, 0.04555831344099975, 0.2505715919900915, 0.1036176134070607, 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workspace, facing the brown slot right. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot left. The gray table B is to the left of the bookend. The red book is on top of the brown slot right. The gray plate is on top of the bookend. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[[p[bookend]\n\n\n\n [slot[book]]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationBookend", + "instruction": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.", + "template_id": -1, + "slots": { + "obj": 1.4888611815466828, + "support": null + }, + "generic_instruction": "Stationbookend the 1.4888611815466828.", + "task_id": "N034", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0543": { + "frame_idx": 543, + "caption": "Computing a grasp pose for the small red book; the right gripper is below and to the left of and in front of the red book.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", 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[ + 4.537 + ], + "station_transition_order": [ + "A", + "B" + ], + "final_approach_pose": [ + 1.931, + 2.312, + 1.305 + ], + "regrasp_events": 0, + "control_ticks": 3335, + "wall_s": 1179.3, + "phase": "done", + "state": "success: task sequence complete", + "check": { + "book": [ + 2.031, + 2.858, + 0.4 + ], + "dist_wrist": 0.19, + "held": false, + "upright_deg": 0.0, + "rest_z": true, + "gaps": { + "plate": 0.0036, + "bookend": 0.0 + }, + "pushed": true, + "released": true, + "at_rest": true, + "manipulation_success": true + }, + "route": [ + "A", + "B" + ], + "total_path_m": 8.0, + "planner_seeds": "lean" + } + ], + "error": null, + "collect": { + "task": "N034", + "robot": "go2_arm", + "visual_dr": true, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N034", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "1" + }, + "cameras": { + "head": { + "link": "Robot_0/Bodies/go2_base", + "pos": [ + 0.332051, + 0.038027, + 0.093559 + ], + "ori": [ + 169.9473, + -88.6452, + 81.5985 + ], + "focal_length": 1.8231182098388672, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4407838582992554 + }, + "wrist": { + "link": "Robot_0/Bodies/piper_link6", + "pos": [ + -0.074987, + 0.005289, + 0.045821 + ], + "ori": [ + 179.3135, + -20.212, + 88.9402 + ], + "focal_length": 1.8517500162124634, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4393036365509033 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/Go2Plus/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32", + "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32", + "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1382.9, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 26.6 + } +} diff --git a/N034/sawyer_umi/dr_off/seed_1049/check.json b/N034/sawyer_umi/dr_off/seed_1049/check.json index 27cccd4dccca2c65eb67d63e8b748702d06a3498..ab0f135e947ad206a8015c4408a232fda2f6b9e2 100644 --- a/N034/sawyer_umi/dr_off/seed_1049/check.json +++ b/N034/sawyer_umi/dr_off/seed_1049/check.json @@ -27,27 +27,27 @@ }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, - "detail": "2986 rows vs ceil(5972/2) = 2986" + "detail": "3042 rows vs ceil(6083/2) = 3042" }, "rows are every 2nd control step (sim_step_idx)": { "pass": true, - "detail": "sim_step_idx 101..6071, step differences [2]" + "detail": "sim_step_idx 101..6183, step differences [2]" }, "video observation.images.head decodes, 640x480, not black": { "pass": true, - "detail": "33.29 MB, 2986 frames at 25 fps, mean luma 84..149, std 31, new picture 2985x = 25.0 per s" + "detail": "34.06 MB, 3042 frames at 25 fps, mean luma 85..149, std 31, new picture 3041x = 25.0 per s" }, "video observation.images.head frames = parquet rows": { "pass": true, - "detail": "2986 vs 2986" + "detail": "3042 vs 3042" }, "video observation.images.wrist decodes, 640x480, not black": { "pass": true, - "detail": "51.52 MB, 2986 frames at 25 fps, mean luma 91..151, std 28, new picture 2985x = 25.0 per s" + "detail": "52.87 MB, 3042 frames at 25 fps, mean luma 90..151, std 28, new picture 3041x = 25.0 per s" }, "video observation.images.wrist frames = parquet rows": { "pass": true, - "detail": "2986 vs 2986" + "detail": "3042 vs 3042" }, "sim_info present": { "pass": true, diff --git a/N034/sawyer_umi/dr_off/seed_1049/check.txt b/N034/sawyer_umi/dr_off/seed_1049/check.txt index 7a05ba6f2c5f887d25b1f11f5b2197d083e6192f..65535a4e3b21bc9a24cd094ebabed078e1531a94 100644 --- a/N034/sawyer_umi/dr_off/seed_1049/check.txt +++ b/N034/sawyer_umi/dr_off/seed_1049/check.txt @@ -1,21 +1,21 @@ collect dataset check cell=/mnt/scratch/xc536_atomic/n034_saw_off_1049_r2/out task=N034 at verify_collect_dataset.py -dataset root /mnt/scratch/xc536_atomic/n034_saw_off_1049_r2/out/rec/stationbookendxr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2986 videos 2 robot_type RidgebackSawyerUmiCfg +dataset root /mnt/scratch/xc536_atomic/n034_saw_off_1049_r2/out/rec/stationbookendxr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 3042 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: 2986 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'] +--- episode file episode_000000.parquet: 3042 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: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.' -rows 2986 at dataset fps 25 = 119.44 s -[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2986 rows vs ceil(5972/2) = 2986 -[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..6071, step differences [2] -[PASS] video observation.images.head decodes, 640x480, not black: 33.29 MB, 2986 frames at 25 fps, mean luma 84..149, std 31, new picture 2985x = 25.0 per s -[PASS] video observation.images.head frames = parquet rows: 2986 vs 2986 -[PASS] video observation.images.wrist decodes, 640x480, not black: 51.52 MB, 2986 frames at 25 fps, mean luma 91..151, std 28, new picture 2985x = 25.0 per s -[PASS] video observation.images.wrist frames = parquet rows: 2986 vs 2986 -parquet size 2.80 MB +rows 3042 at dataset fps 25 = 121.68 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3042 rows vs ceil(6083/2) = 3042 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..6183, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 34.06 MB, 3042 frames at 25 fps, mean luma 85..149, std 31, new picture 3041x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 3042 vs 3042 +[PASS] video observation.images.wrist decodes, 640x480, not black: 52.87 MB, 3042 frames at 25 fps, mean luma 90..151, std 28, new picture 3041x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 3042 vs 3042 +parquet size 2.84 MB [PASS] sim_info present: rec/stationbookendxr/000/sim_info -dataset size 87.81 MB; whole cell dir 89.2 MB +dataset size 89.96 MB; whole cell dir 91.4 MB RESULT: ALL PASS diff --git a/N034/sawyer_umi/dr_off/seed_1049/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/sawyer_umi/dr_off/seed_1049/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet index 0095c7145fb261a9ee762e06dee3b81ccca0fa74..338c24db544b8e65510a058d8ee5e4a485d93cfd 100644 --- a/N034/sawyer_umi/dr_off/seed_1049/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet +++ b/N034/sawyer_umi/dr_off/seed_1049/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8d659e594e2bb3b821f14fe3e9d4facc364df5aa655f834110e5a89da8677f12 -size 2800302 +oid sha256:377e38c317b53de46e4d9064d2592d1536f26270488de9921b5ac78d4dbb0ad9 +size 2841721 diff --git a/N034/sawyer_umi/dr_off/seed_1049/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl b/N034/sawyer_umi/dr_off/seed_1049/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl index 7070f137563024c1d6d693783df99cda4fac3750..73d657d74f8c67dd61eff2ccc3e7a0510a546a2a 100644 --- a/N034/sawyer_umi/dr_off/seed_1049/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl +++ b/N034/sawyer_umi/dr_off/seed_1049/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 2986, "magicsim/control_steps": 5972, "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 brown slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is in front of the brown slot left. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is on top of the bookend. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front-right, at table height."} +{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 3042, "magicsim/control_steps": 6083, "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 brown slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is in front of the brown slot left. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is on top of the bookend. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front-right, at table height."} diff --git a/N034/sawyer_umi/dr_off/seed_1049/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/sawyer_umi/dr_off/seed_1049/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl index e141b2af41c1ce946ff1a992760fe95b0d980d0f..bc13bcdcb7c782c51748aee3b420fe82574aa65f 100644 --- a/N034/sawyer_umi/dr_off/seed_1049/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl +++ b/N034/sawyer_umi/dr_off/seed_1049/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -1 +1 @@ -{"episode_index": 0, "stats": {"action": {"mean": [0.06155555295132285, -0.000930204950098375, 0.003681174458177013, 0.749587407007524, 1.1350395917912417, 0.9037562249214635, 0.030804907117720146, -0.05215943544075063, 0.026301826322866057, 0.11842323847149973, 0.6282652377762894], "std": [0.11815744966932547, 0.008757575993938347, 0.14017437732985963, 1.434071392529162, 1.6708742365219422, 0.23823966436494268, 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], @@ -1275,21 +1300,21 @@ ] }, { - "tick": 2971, + "tick": 2977, "event": "leave_station", "station": "A", "xy": [ - 0.885, - 0.226 + 0.884, + 0.23 ] }, { - "tick": 3240, + "tick": 3246, "event": "enter_station", "station": "B", "xy": [ - 1.738, - 1.591 + 1.743, + 1.59 ] } ], @@ -1306,25 +1331,25 @@ "fail_class_hint": null, "distance_to_first_interaction": 2.379, "interstation_path_lengths": [ - 4.493 + 4.5 ], "station_transition_order": [ "A", "B" ], "final_approach_pose": [ - 1.972, - 2.021, + 1.973, + 2.02, 1.435 ], "regrasp_events": 0, - "control_ticks": 5482, - "wall_s": 1006.4, + "control_ticks": 5593, + "wall_s": 1149.6, "phase": "done", "state": "success: task sequence complete", "check": { "book": [ - 2.006, + 2.007, 2.912, 0.4 ], @@ -1333,8 +1358,8 @@ "upright_deg": 0.0, "rest_z": true, "gaps": { - "plate": 0.005, - "bookend": 0.0021 + "plate": 0.0059, + "bookend": 0.0014 }, "pushed": true, "released": true, @@ -1345,7 +1370,7 @@ "A", "B" ], - "total_path_m": 7.36, + "total_path_m": 7.37, "planner_seeds": "default" } ], @@ -1431,11 +1456,11 @@ "/robot_state[0]/RidgebackSawyerUmi/joint_vel:(1, 13):torch.float32" ], "n_success": 1, - "elapsed_s": 1236.9, + "elapsed_s": 1406.8, "record_drain": { "drain_ok": true, "committed": 1, "save_errors": {}, - "drain_s": 43.2 + "drain_s": 45.3 } } diff --git a/N034/sawyer_umi/dr_off/seed_1053/check.json b/N034/sawyer_umi/dr_off/seed_1053/check.json new file mode 100644 index 0000000000000000000000000000000000000000..8cec0528e2467e7fd1272eea946432165081f6ff --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1053/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: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "3018 rows vs ceil(6035/2) = 3018" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..6135, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "33.45 MB, 3018 frames at 25 fps, mean luma 94..149, std 31, new picture 3017x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "3018 vs 3018" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "51.70 MB, 3018 frames at 25 fps, mean luma 90..150, std 28, new picture 3017x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "3018 vs 3018" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationbookendxr/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1053/check.txt b/N034/sawyer_umi/dr_off/seed_1053/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..4253e2de1da01ace335e2a18b140e4a3522c3546 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1053/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_saw_off_1053/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_saw_off_1053/out/rec/stationbookendxr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 3018 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: 3018 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: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.' +rows 3018 at dataset fps 25 = 120.72 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3018 rows vs ceil(6035/2) = 3018 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..6135, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 33.45 MB, 3018 frames at 25 fps, mean luma 94..149, std 31, new picture 3017x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 3018 vs 3018 +[PASS] video observation.images.wrist decodes, 640x480, not black: 51.70 MB, 3018 frames at 25 fps, mean luma 90..150, std 28, new picture 3017x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 3018 vs 3018 +parquet size 2.88 MB +[PASS] sim_info present: rec/stationbookendxr/000/sim_info +dataset size 88.22 MB; whole cell dir 89.7 MB +RESULT: ALL PASS diff --git a/N034/sawyer_umi/dr_off/seed_1053/rec/stationbookendxr/000/completed/0.json b/N034/sawyer_umi/dr_off/seed_1053/rec/stationbookendxr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..2218f14552b5319a4951e60bfd54adf3df3cac5e --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1053/rec/stationbookendxr/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationbookendxr/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1053/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/sawyer_umi/dr_off/seed_1053/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..6b1319ebdbce2db900a69801d63f5cdeb0d5860c --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1053/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:20bc5cd739d99119f4eaa28844868124f9a7a5c1b63fb567d8fc614e67752458 +size 2875115 diff --git a/N034/sawyer_umi/dr_off/seed_1053/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl b/N034/sawyer_umi/dr_off/seed_1053/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d083b08b3cbf92c5acd2f2983509ba0c9eb8c4b3 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1053/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 3018, "magicsim/control_steps": 6035, "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 brown slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height."} diff --git a/N034/sawyer_umi/dr_off/seed_1053/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/sawyer_umi/dr_off/seed_1053/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e28800d14b933b574c14a9310da5a86f598a77c2 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1053/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.06329100760473882, -0.00022560998185175473, 0.006061288045317791, 0.7485140905011324, 1.1428087641509106, 0.9047764365921122, 0.02538335999719292, -0.04870832245858637, 0.024884442570480614, 0.12070960245873456, 0.6292246520874751], "std": [0.11946702683402909, 0.008755207168803871, 0.13519551058239826, 1.4722152255717733, 1.7509854846966968, 0.23679211481425153, 0.2830432969585272, 0.6211901337671291, 0.20015413845893398, 0.6897395826110657, 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] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the brown slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[t[pla[bookend]\n\n\n\n [slot [book]\n\n\n\n[robot]" + }, + "task": { + "task_type": "StationBookendXR", + "instruction": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.", + "template_id": -1, + "slots": { + "obj": 1.5114913706963593, + "support": null + }, + "generic_instruction": "Stationbookendxr the 1.5114913706963593.", + "task_id": "N034", + "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/N034/sawyer_umi/dr_off/seed_1053/rec/stationbookendxr/000/lerobot_v21/meta/info.json b/N034/sawyer_umi/dr_off/seed_1053/rec/stationbookendxr/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..73985b81a8092ab8f2f5f7424461967f4694630b --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1053/rec/stationbookendxr/000/lerobot_v21/meta/info.json @@ -0,0 +1,296 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 3018, + "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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640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1053/rec/stationbookendxr/000/lerobot_v21/meta/magicsim_manifest.json b/N034/sawyer_umi/dr_off/seed_1053/rec/stationbookendxr/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..f5cafc978ea35a9a916fd48700e2a86eee3aa0af --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1053/rec/stationbookendxr/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,264 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 06:55:44" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + 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"/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" + ], + "n_success": 1, + "elapsed_s": 1409.0, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 44.7 + } +} diff --git a/N034/sawyer_umi/dr_on/seed_2041/check.json b/N034/sawyer_umi/dr_on/seed_2041/check.json new file mode 100644 index 0000000000000000000000000000000000000000..d0eaacdc7f3c274d6da759fa4fb630aba0afadf2 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2041/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: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2748 rows vs ceil(5496/2) = 2748" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5595, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "89.80 MB, 2748 frames at 25 fps, mean luma 74..118, std 44, new picture 2747x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2748 vs 2748" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "73.70 MB, 2748 frames at 25 fps, mean luma 67..144, std 40, new picture 2747x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2748 vs 2748" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationbookendxr/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_on/seed_2041/check.txt b/N034/sawyer_umi/dr_on/seed_2041/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..ff275ca4e20b6d707a67074e4c33da1d0b896217 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2041/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_saw_on_2041/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_saw_on_2041/out/rec/stationbookendxr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2748 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: 2748 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: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.' +rows 2748 at dataset fps 25 = 109.92 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2748 rows vs ceil(5496/2) = 2748 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5595, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 89.80 MB, 2748 frames at 25 fps, mean luma 74..118, std 44, new picture 2747x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2748 vs 2748 +[PASS] video observation.images.wrist decodes, 640x480, not black: 73.70 MB, 2748 frames at 25 fps, mean luma 67..144, std 40, new picture 2747x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2748 vs 2748 +parquet size 2.71 MB +[PASS] sim_info present: rec/stationbookendxr/000/sim_info +dataset size 166.40 MB; whole cell dir 167.8 MB +RESULT: ALL PASS diff --git a/N034/sawyer_umi/dr_on/seed_2041/rec/stationbookendxr/000/completed/0.json b/N034/sawyer_umi/dr_on/seed_2041/rec/stationbookendxr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..2218f14552b5319a4951e60bfd54adf3df3cac5e --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2041/rec/stationbookendxr/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationbookendxr/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_on/seed_2041/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/sawyer_umi/dr_on/seed_2041/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..0619613a6c337395e3455b5453781dbf939d84bd --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2041/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e14596996fe16855f9d19b914fdba15713fefa59f7e90f8600771bd994c3d9c +size 2713027 diff --git a/N034/sawyer_umi/dr_on/seed_2041/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl b/N034/sawyer_umi/dr_on/seed_2041/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c94f7ea746b7e47d70fa1c4f2292bec34204858f --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2041/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 2748, "magicsim/control_steps": 5496, "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 brown slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The brown slot left is behind the brown slot right. The brown slot right is in front of the brown slot left. The red book is on top of the brown slot left. The gray plate is behind the bookend. The bookend is in front of the gray plate. The scene is viewed from front, at table height."} diff --git a/N034/sawyer_umi/dr_on/seed_2041/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/sawyer_umi/dr_on/seed_2041/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4c8d4578f7b6c3af9d2bd7731abab62d29d1c348 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2041/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.06698084388164129, -0.0010376213012694272, 0.011081602790701682, 0.6374690951793041, 1.0653871708933205, 0.9224992798752486, 0.0004179412959986726, -0.12591645518504896, -0.003267217326621633, 0.21049756273692352, 0.6055312954876274], "std": [0.12179141039383352, 0.007430722325872608, 0.14005207430826005, 1.4314646272796898, 1.6117990517930194, 0.24454422235793932, 0.2891392806930045, 0.6083172578667913, 0.18296443426381007, 0.6728279805509694, 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"object": "bookend_1" + }, + { + "subject": "bookend_1", + "relation": "in_front_of", + "object": "plate_1" + } + ], + "cameras": [ + { + "name": "head", + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 4.352745994019229, + 0.8773087093383334, + -0.09500011149587995 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + -8.039232568535226e-08, + -0.9999999999999964, + 2.5347603738179458e-08 + ], + [ + 0.8191520331270514, + -8.039232568535226e-08, + -0.5735764522919431 + ], + [ + 0.5735764522919431, + -2.5347603738179458e-08, + 0.819152033127055 + ] + ], + "t": [ + 1.855362002599171e-08, + -0.2032392724571752, + -0.08737481710326404 + ] + } + }, + { + "name": "wrist", + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, 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"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 brown slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The brown slot left is behind the brown slot right. The brown slot right is in front of the brown slot left. The red book is on top of the brown slot left. The gray plate is behind the bookend. The bookend is in front of the gray plate. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[[bookend]\n\n\n\n [[book]ight]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationBookendXR", + "instruction": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.", + "template_id": -1, + "slots": { + "obj": 1.6907752438112764, + "support": null + }, + "generic_instruction": "Stationbookendxr the 1.6907752438112764.", + "task_id": "N034", + "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/N034/sawyer_umi/dr_on/seed_2041/rec/stationbookendxr/000/lerobot_v21/meta/info.json b/N034/sawyer_umi/dr_on/seed_2041/rec/stationbookendxr/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..fbba83df60866f5dd4fcab1c79f98c0fce640543 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2041/rec/stationbookendxr/000/lerobot_v21/meta/info.json @@ -0,0 +1,296 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 2748, + "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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640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_on/seed_2041/rec/stationbookendxr/000/lerobot_v21/meta/magicsim_manifest.json b/N034/sawyer_umi/dr_on/seed_2041/rec/stationbookendxr/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..b25e6679222174e9c32468a827b4130b890cf106 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2041/rec/stationbookendxr/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,264 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 06:59:41" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": 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"focal_length": 1.8, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/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" + ], + "n_success": 1, + "elapsed_s": 1247.2, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 45.0 + } +} diff --git a/N034/stretch3/dr_off/seed_1126/check.json b/N034/stretch3/dr_off/seed_1126/check.json new file mode 100644 index 0000000000000000000000000000000000000000..529df00bf259a69e255f036a6afdd99f0c5faa2b --- /dev/null +++ b/N034/stretch3/dr_off/seed_1126/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: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "3154 rows vs ceil(6308/2) = 3154" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..6407, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "32.01 MB, 3154 frames at 25 fps, mean luma 111..154, std 9, new picture 3153x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "3154 vs 3154" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "59.73 MB, 3154 frames at 25 fps, mean luma 117..162, std 26, new picture 3153x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "3154 vs 3154" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationbookendstretch/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N034/stretch3/dr_off/seed_1126/check.txt b/N034/stretch3/dr_off/seed_1126/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..98e1ce7fb758536402be87c2ec757353f52140c7 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1126/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_str_off_1126/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_str_off_1126/out/rec/stationbookendstretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 3154 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: 3154 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: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.' +rows 3154 at dataset fps 25 = 126.16 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3154 rows vs ceil(6308/2) = 3154 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..6407, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 32.01 MB, 3154 frames at 25 fps, mean luma 111..154, std 9, new picture 3153x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 3154 vs 3154 +[PASS] video observation.images.wrist decodes, 640x480, not black: 59.73 MB, 3154 frames at 25 fps, mean luma 117..162, std 26, new picture 3153x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 3154 vs 3154 +parquet size 2.66 MB +[PASS] sim_info present: rec/stationbookendstretch/000/sim_info +dataset size 94.58 MB; whole cell dir 96.2 MB +RESULT: ALL PASS diff --git a/N034/stretch3/dr_off/seed_1126/rec/stationbookendstretch/000/completed/0.json b/N034/stretch3/dr_off/seed_1126/rec/stationbookendstretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..565ef5f65941ce16df1aafe3e0687de9fab4723e --- /dev/null +++ b/N034/stretch3/dr_off/seed_1126/rec/stationbookendstretch/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationbookendstretch/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N034/stretch3/dr_off/seed_1126/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/stretch3/dr_off/seed_1126/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..c4d659132f4241e28376b72b1ed1a90740724f71 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1126/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76dd83b7f81ebacedfd81957a13561b7487118fa92c0da554154cf3b90a38fc0 +size 2656188 diff --git a/N034/stretch3/dr_off/seed_1126/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl b/N034/stretch3/dr_off/seed_1126/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8f697a2547876502c31b7d8215b8736fa161b0d7 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1126/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 3154, "magicsim/control_steps": 6308, "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 slot right. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot left. The gray table B is to the left of the bookend. The red book is on top of the brown slot right. The gray plate is on top of the bookend. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, slightly above table height."} diff --git a/N034/stretch3/dr_off/seed_1126/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/stretch3/dr_off/seed_1126/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1417c3a16591dd25db8451b6e2ac5ecc958e44d4 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1126/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [-0.008980292619897565, 0.0, -0.03155962932903908, 0.8222752633748474, 1.6859312855386688, 0.6159474061460682, -0.39329327481515947, -0.011356002846338427, -0.26361961363936437, 0.001288319128514111, 0.7159162967660114], "std": [0.12692930702754696, 0.0, 0.16677054611795097, 1.2808226127269178, 1.7022490853931656, 0.198959437175148, 0.4854519077554889, 0.3735169341734732, 0.42702870567014506, 0.46707866321234004, 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b/N034/stretch3/dr_off/seed_1126/rec/stationbookendstretch/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..9090a3737f120478301887f601440f34684e530f --- /dev/null +++ b/N034/stretch3/dr_off/seed_1126/rec/stationbookendstretch/000/lerobot_v21/meta/info.json @@ -0,0 +1,298 @@ +{ + "codebase_version": "v2.1", + "robot_type": "HelloRobotCfg", + "total_episodes": 1, + "total_frames": 3154, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "arm_action_0", + "arm_action_1", + "arm_action_2", + 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"/robot_state[0]/HelloRobot/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/joint_effort:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_pos:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_vel:(1, 15):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1258.4, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 30.0 + } +} diff --git a/N034/stretch3/dr_off/seed_1127/check.json b/N034/stretch3/dr_off/seed_1127/check.json new file mode 100644 index 0000000000000000000000000000000000000000..058df5784105a16ba05a8582e03904e035aba6ea --- /dev/null +++ b/N034/stretch3/dr_off/seed_1127/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: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "3111 rows vs ceil(6222/2) = 3111" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..6321, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "29.36 MB, 3111 frames at 25 fps, mean luma 117..156, std 12, new picture 3110x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "3111 vs 3111" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "59.46 MB, 3111 frames at 25 fps, mean luma 119..167, std 27, new picture 3110x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "3111 vs 3111" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationbookendstretch/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N034/stretch3/dr_off/seed_1127/check.txt b/N034/stretch3/dr_off/seed_1127/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..b63f3d22d4b4e75bfda0c1a378e9d40c022b8cd9 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1127/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_str_off_1127/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_str_off_1127/out/rec/stationbookendstretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 3111 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: 3111 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: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.' +rows 3111 at dataset fps 25 = 124.44 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3111 rows vs ceil(6222/2) = 3111 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..6321, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 29.36 MB, 3111 frames at 25 fps, mean luma 117..156, std 12, new picture 3110x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 3111 vs 3111 +[PASS] video observation.images.wrist decodes, 640x480, not black: 59.46 MB, 3111 frames at 25 fps, mean luma 119..167, std 27, new picture 3110x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 3111 vs 3111 +parquet size 3.47 MB +[PASS] sim_info present: rec/stationbookendstretch/000/sim_info +dataset size 92.50 MB; whole cell dir 94.2 MB +RESULT: ALL PASS diff --git a/N034/stretch3/dr_off/seed_1127/rec/stationbookendstretch/000/completed/0.json b/N034/stretch3/dr_off/seed_1127/rec/stationbookendstretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..565ef5f65941ce16df1aafe3e0687de9fab4723e --- /dev/null +++ b/N034/stretch3/dr_off/seed_1127/rec/stationbookendstretch/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationbookendstretch/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N034/stretch3/dr_off/seed_1127/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/stretch3/dr_off/seed_1127/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..c403883af786907650f9762def35ec96727129f0 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1127/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9eb782146bbe1d1b2ae55f8cfb6593fca96da0053b53ef4e585019709f4e68ac +size 3472298 diff --git a/N034/stretch3/dr_off/seed_1127/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl b/N034/stretch3/dr_off/seed_1127/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..31b7bb53e483858d8718d929be461e1598a1ba3d --- /dev/null +++ b/N034/stretch3/dr_off/seed_1127/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 3111, "magicsim/control_steps": 6222, "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 slot right. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot right. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, slightly above table height."} diff --git a/N034/stretch3/dr_off/seed_1127/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/stretch3/dr_off/seed_1127/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1b01f8d0d527a10dd4c0b0d7eea70ce9d74ef70d --- /dev/null +++ b/N034/stretch3/dr_off/seed_1127/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [-0.004812222165428282, 0.0, 0.017877108292466755, 1.0327948682304748, 1.5743510351638745, 0.611784539779104, -0.3915931740855878, 0.01562965621116628, -0.26703583351178856, -0.06101390566124228, 0.7274188363870138], "std": [0.12808283026527728, 0.0, 0.16715229517910374, 1.1781607881285188, 1.6470411136161625, 0.1979264240596709, 0.4807087358412793, 0.3767496519095981, 0.4179550934267201, 0.47293973858730354, 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"HelloRobot", + "model": "hellorobot", + "type": "mobilemanip", + "noun": "Hello Robot Stretch 3 mobile manipulator", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.4, + -2.2, + 0.06 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the brown slot right. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot right. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [bookend]\n\n\n\n [slot [book]\n\n\n\n[robot]" + }, + "task": { + "task_type": "StationBookendStretch", + "instruction": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.", + "template_id": -1, + "slots": { + "obj": 3.151310122654145, + "support": null + }, + "generic_instruction": "Stationbookendstretch the 3.151310122654145.", + "task_id": "N034", + "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/N034/stretch3/dr_off/seed_1127/rec/stationbookendstretch/000/lerobot_v21/meta/info.json b/N034/stretch3/dr_off/seed_1127/rec/stationbookendstretch/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..17386d285f82d6dae63f8dce19f1b457db0ec9f8 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1127/rec/stationbookendstretch/000/lerobot_v21/meta/info.json @@ -0,0 +1,298 @@ +{ + "codebase_version": "v2.1", + "robot_type": "HelloRobotCfg", + "total_episodes": 1, + "total_frames": 3111, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "arm_action_0", + "arm_action_1", + "arm_action_2", + "arm_action_3", + "arm_action_4", + "arm_action_5", + "arm_action_6", + "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", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 15 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 49 + ], + "names": [ + "object_pose.book.0", + "object_pose.book.1", + "object_pose.book.2", + "object_pose.book.3", + "object_pose.book.4", + "object_pose.book.5", + "object_pose.book.6", + "object_pose.bookend.0", + "object_pose.bookend.1", + "object_pose.bookend.2", + "object_pose.bookend.3", + "object_pose.bookend.4", + "object_pose.bookend.5", + "object_pose.bookend.6", + "object_pose.plate.0", + "object_pose.plate.1", + "object_pose.plate.2", + "object_pose.plate.3", + "object_pose.plate.4", + "object_pose.plate.5", + "object_pose.plate.6", + "object_pose.slot_left.0", + "object_pose.slot_left.1", + "object_pose.slot_left.2", + "object_pose.slot_left.3", + "object_pose.slot_left.4", + "object_pose.slot_left.5", + 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"float32", + "shape": [ + 1 + ], + "names": null + }, + "extra.action_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "sim_step_idx": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "observation.images.head": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N034/stretch3/dr_off/seed_1127/rec/stationbookendstretch/000/lerobot_v21/meta/magicsim_manifest.json b/N034/stretch3/dr_off/seed_1127/rec/stationbookendstretch/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..8e656800ba22bdaac90947e2452eaea35193ce0e --- /dev/null +++ b/N034/stretch3/dr_off/seed_1127/rec/stationbookendstretch/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 06:52:51" + }, + "embodiment": { + "robots": [ + { + "name": "HelloRobot", + "cfg": "HelloRobotCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "HelloRobot.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HelloRobotBaseAction", + "names_source": "_joint_names" + }, + { + "name": "HelloRobot.arm_action", + "start": 3, + "end": 10, + "names": [ + "arm_action_0", + "arm_action_1", + "arm_action_2", + "arm_action_3", + "arm_action_4", + "arm_action_5", + "arm_action_6" + ], + "source": "HelloRobotIKAction", + "names_source": "fallback" + }, + { + "name": "HelloRobot.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "HelloRobot.joint_pos", + "start": 0, + "end": 15, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "joint_vel_layout": { + "dim": 15, + "segments": [ + { + "name": "HelloRobot.joint_vel", + "start": 0, + "end": 15, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command 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+ }, + "manipulation_success": true, + "mobile_success": true, + "full_success": true, + "failure_reason": null, + "fail_class_hint": null, + "distance_to_first_interaction": 2.451, + "interstation_path_lengths": [ + 4.054 + ], + "station_transition_order": [ + "A", + "B" + ], + "final_approach_pose": [ + 1.875, + 2.278, + -3.135 + ], + "regrasp_events": 0, + "control_ticks": 5721, + "wall_s": 1241.9, + "phase": "done", + "state": "success: task sequence complete", + "check": { + "book": [ + 1.812, + 2.869, + 0.4 + ], + "dist_wrist": 0.185, + "held": false, + "upright_deg": 0.0, + "rest_z": true, + "gaps": { + "plate": 0.0, + "bookend": -0.0013 + }, + "pushed": true, + "released": true, + "at_rest": true, + "manipulation_success": true + }, + "route": [ + "A", + "B" + ], + "total_path_m": 7.36, + "planner_seeds": "default" + } + ], + "error": null, + "collect": { + "task": "N034", + "robot": "stretch3", + "visual_dr": false, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N034", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "0" + }, + "cameras": { + "head": { + "link": "Robot_0/base_link", + "pos": [ + 0.049771, + -0.002942, + 1.295723 + ], + "ori": [ + 0.0002, + -55.623, + -90.0 + ], + "focal_length": 2.73834228515625, + "horizontal_aperture": 2.1600000858306885, + "vertical_aperture": 1.62 + }, + "wrist": { + "link": "Robot_0/link_gripper_s3_body", + "pos": [ + 0.009, + 0.062939, + 0.056398 + ], + "ori": [ + -170.0021, + 0.0, + -179.9998 + ], + "focal_length": 1.280753493309021, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.44 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/HelloRobot/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/joint_effort:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_pos:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_vel:(1, 15):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1505.8, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 45.6 + } +} diff --git a/N034/stretch3/dr_off/seed_1128/check.json b/N034/stretch3/dr_off/seed_1128/check.json new file mode 100644 index 0000000000000000000000000000000000000000..b5fbe4e51ca174f29d68262a6588497a4e1a637d --- /dev/null +++ b/N034/stretch3/dr_off/seed_1128/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: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "3188 rows vs ceil(6375/2) = 3188" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..6475, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "30.28 MB, 3188 frames at 25 fps, mean luma 118..155, std 12, new picture 3187x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "3188 vs 3188" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "59.45 MB, 3188 frames at 25 fps, mean luma 116..164, std 27, new picture 3187x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "3188 vs 3188" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationbookendstretch/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N034/stretch3/dr_off/seed_1128/check.txt b/N034/stretch3/dr_off/seed_1128/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..03e9a32e1ac70f6d1b94a39470ea5c716ceecfe8 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1128/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_str_off_1128/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_str_off_1128/out/rec/stationbookendstretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 3188 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: 3188 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: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.' +rows 3188 at dataset fps 25 = 127.52 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3188 rows vs ceil(6375/2) = 3188 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..6475, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 30.28 MB, 3188 frames at 25 fps, mean luma 118..155, std 12, new picture 3187x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 3188 vs 3188 +[PASS] video observation.images.wrist decodes, 640x480, not black: 59.45 MB, 3188 frames at 25 fps, mean luma 116..164, std 27, new picture 3187x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 3188 vs 3188 +parquet size 3.76 MB +[PASS] sim_info present: rec/stationbookendstretch/000/sim_info +dataset size 93.72 MB; whole cell dir 95.5 MB +RESULT: ALL PASS diff --git a/N034/stretch3/dr_off/seed_1128/rec/stationbookendstretch/000/completed/0.json b/N034/stretch3/dr_off/seed_1128/rec/stationbookendstretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..565ef5f65941ce16df1aafe3e0687de9fab4723e --- /dev/null +++ b/N034/stretch3/dr_off/seed_1128/rec/stationbookendstretch/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationbookendstretch/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N034/stretch3/dr_off/seed_1128/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/stretch3/dr_off/seed_1128/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..e086378e9222b77ebe039eca2f016c9b2456863a --- /dev/null +++ b/N034/stretch3/dr_off/seed_1128/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f49d549975cb4af13dcc92a0e2602452cc085db46141f5ae509ca3bcf82cded +size 3762535 diff --git a/N034/stretch3/dr_off/seed_1128/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl b/N034/stretch3/dr_off/seed_1128/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..691ef080f8cf3bc46451ffe741b155ce5a95461f --- /dev/null +++ b/N034/stretch3/dr_off/seed_1128/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 3188, "magicsim/control_steps": 6375, "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 slot right. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot right. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, slightly above table height."} diff --git a/N034/stretch3/dr_off/seed_1128/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/stretch3/dr_off/seed_1128/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6404079f6bf395d485d3651a66216e2ee1f3bcdc --- /dev/null +++ b/N034/stretch3/dr_off/seed_1128/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [-0.011073351298415638, 0.0, -0.028509797226173694, 1.0952283749648999, 1.5549958400227306, 0.620113287172473, -0.38583122660380226, 0.008170776981412336, -0.25473027274415344, -0.015659636760103065, 0.7349435382685069], "std": [0.13227320175161308, 0.0, 0.15879952328838598, 1.4601655651507146, 1.791559903873892, 0.1996729397986964, 0.4857610464060994, 0.38332057099045724, 0.42662124206582597, 0.4701388636766232, 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There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot right. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[[p[bookend]\n\n\n\n [slot [book]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationBookendStretch", + "instruction": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.", + "template_id": -1, + "slots": { + "obj": 3.002250570559673, + "support": null + }, + "generic_instruction": "Stationbookendstretch the 3.002250570559673.", + "task_id": "N034", + "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/N034/stretch3/dr_off/seed_1128/rec/stationbookendstretch/000/lerobot_v21/meta/info.json b/N034/stretch3/dr_off/seed_1128/rec/stationbookendstretch/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..35735134b6dc786ad42ee2263fa1ce23f0734765 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1128/rec/stationbookendstretch/000/lerobot_v21/meta/info.json @@ -0,0 +1,298 @@ +{ + "codebase_version": "v2.1", + "robot_type": "HelloRobotCfg", + "total_episodes": 1, + "total_frames": 3188, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "arm_action_0", + "arm_action_1", + "arm_action_2", + "arm_action_3", + "arm_action_4", + "arm_action_5", + "arm_action_6", + "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", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 15 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 49 + ], + "names": [ + "object_pose.book.0", + "object_pose.book.1", + "object_pose.book.2", + "object_pose.book.3", + "object_pose.book.4", + "object_pose.book.5", + "object_pose.book.6", + "object_pose.bookend.0", + "object_pose.bookend.1", + "object_pose.bookend.2", + "object_pose.bookend.3", + "object_pose.bookend.4", + "object_pose.bookend.5", + "object_pose.bookend.6", + "object_pose.plate.0", + "object_pose.plate.1", + "object_pose.plate.2", + "object_pose.plate.3", + "object_pose.plate.4", + "object_pose.plate.5", + "object_pose.plate.6", + "object_pose.slot_left.0", + "object_pose.slot_left.1", + "object_pose.slot_left.2", + "object_pose.slot_left.3", + "object_pose.slot_left.4", + "object_pose.slot_left.5", + 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"float32", + "shape": [ + 1 + ], + "names": null + }, + "extra.action_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "sim_step_idx": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "observation.images.head": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N034/stretch3/dr_off/seed_1128/rec/stationbookendstretch/000/lerobot_v21/meta/magicsim_manifest.json b/N034/stretch3/dr_off/seed_1128/rec/stationbookendstretch/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..175315d96e872eefd8d2236f16742bf914b165a0 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1128/rec/stationbookendstretch/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 06:54:39" + }, + "embodiment": { + "robots": [ + { + "name": "HelloRobot", + "cfg": "HelloRobotCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "HelloRobot.base_action", + "start": 0, + "end": 3, + "names": [ + 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4):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/joint_effort:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_pos:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_vel:(1, 15):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1462.9, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 34.4 + } +} diff --git a/N034/stretch3/dr_off/seed_1129/check.json b/N034/stretch3/dr_off/seed_1129/check.json new file mode 100644 index 0000000000000000000000000000000000000000..a2e4cd9920e6479a329fd33544062030ca056bdf --- /dev/null +++ b/N034/stretch3/dr_off/seed_1129/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: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "3186 rows vs ceil(6371/2) = 3186" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..6471, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "30.41 MB, 3186 frames at 25 fps, mean luma 115..155, std 11, new picture 3185x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "3186 vs 3186" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "59.93 MB, 3186 frames at 25 fps, mean luma 116..165, std 27, new picture 3185x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "3186 vs 3186" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationbookendstretch/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N034/stretch3/dr_off/seed_1129/check.txt b/N034/stretch3/dr_off/seed_1129/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..064852a51cb6d6b1330d080e999836fd340364db --- /dev/null +++ b/N034/stretch3/dr_off/seed_1129/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_str_off_1129/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_str_off_1129/out/rec/stationbookendstretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 3186 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: 3186 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: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.' +rows 3186 at dataset fps 25 = 127.44 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3186 rows vs ceil(6371/2) = 3186 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..6471, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 30.41 MB, 3186 frames at 25 fps, mean luma 115..155, std 11, new picture 3185x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 3186 vs 3186 +[PASS] video observation.images.wrist decodes, 640x480, not black: 59.93 MB, 3186 frames at 25 fps, mean luma 116..165, std 27, new picture 3185x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 3186 vs 3186 +parquet size 3.62 MB +[PASS] sim_info present: rec/stationbookendstretch/000/sim_info +dataset size 94.18 MB; whole cell dir 95.9 MB +RESULT: ALL PASS diff --git a/N034/stretch3/dr_off/seed_1129/rec/stationbookendstretch/000/completed/0.json b/N034/stretch3/dr_off/seed_1129/rec/stationbookendstretch/000/completed/0.json new file mode 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diff --git a/N034/stretch3/dr_off/seed_1129/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl b/N034/stretch3/dr_off/seed_1129/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..733262a2c3ecf5acf70d86258f95c54ed0a61347 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1129/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 3186, "magicsim/control_steps": 6371, "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 slot right. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot right. The gray plate is behind the bookend. The bookend is in front of the gray plate. The scene is viewed from front, slightly above table height."} diff --git a/N034/stretch3/dr_off/seed_1129/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/stretch3/dr_off/seed_1129/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8c105ee886daa3f744a5bf925fcc7ab48e2d31e4 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1129/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [-0.00997768938178939, 0.0, -0.02771203431192077, 1.0242787447441732, 1.5356389202004472, 0.6184695992017795, -0.38192201934485037, -0.00878157352436642, -0.24717738972776881, 0.007650966376414137, 0.731638418079096], "std": [0.13111653948727178, 0.0, 0.15635679412378106, 1.4355461300814885, 1.798659703795085, 0.19916113493424972, 0.49306455384688636, 0.37863618779025915, 0.4324832909081514, 0.46838375541036, 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The scene is viewed from front, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[[bookend]\n\n\n\n [slo[book]t]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationBookendStretch", + "instruction": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.", + "template_id": -1, + "slots": { + "obj": 3.140350653307582, + "support": null + }, + "generic_instruction": "Stationbookendstretch the 3.140350653307582.", + "task_id": "N034", + "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/N034/stretch3/dr_off/seed_1129/rec/stationbookendstretch/000/lerobot_v21/meta/info.json 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"MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "0" + }, + "cameras": { + "head": { + "link": "Robot_0/base_link", + "pos": [ + 0.049771, + -0.002942, + 1.295723 + ], + "ori": [ + 0.0002, + -55.623, + -90.0 + ], + "focal_length": 2.73834228515625, + "horizontal_aperture": 2.1600000858306885, + "vertical_aperture": 1.62 + }, + "wrist": { + "link": "Robot_0/link_gripper_s3_body", + "pos": [ + 0.009, + 0.062939, + 0.056398 + ], + "ori": [ + -170.0021, + 0.0, + -179.9998 + ], + "focal_length": 1.280753493309021, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.44 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/HelloRobot/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/joint_effort:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_pos:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_vel:(1, 15):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1491.6, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 44.9 + } +} diff --git a/N034/stretch3/dr_off/seed_1131/check.json b/N034/stretch3/dr_off/seed_1131/check.json new file mode 100644 index 0000000000000000000000000000000000000000..52c3a0f61ed4d86f44e65952ce95fd6b022cf790 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1131/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: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2789 rows vs ceil(5578/2) = 2789" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5677, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "28.35 MB, 2789 frames at 25 fps, mean luma 111..155, std 12, new picture 2788x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2789 vs 2789" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "52.65 MB, 2789 frames at 25 fps, mean luma 115..163, std 26, new picture 2788x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2789 vs 2789" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationbookendstretch/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N034/stretch3/dr_off/seed_1131/check.txt b/N034/stretch3/dr_off/seed_1131/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..54e71e873d5176b659757e11eb632b8de4f82caa --- /dev/null +++ b/N034/stretch3/dr_off/seed_1131/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_str_off_1131/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_str_off_1131/out/rec/stationbookendstretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2789 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: 2789 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: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.' +rows 2789 at dataset fps 25 = 111.56 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2789 rows vs ceil(5578/2) = 2789 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5677, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 28.35 MB, 2789 frames at 25 fps, mean luma 111..155, std 12, new picture 2788x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2789 vs 2789 +[PASS] video observation.images.wrist decodes, 640x480, not black: 52.65 MB, 2789 frames at 25 fps, mean luma 115..163, std 26, new picture 2788x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2789 vs 2789 +parquet size 3.64 MB +[PASS] sim_info present: rec/stationbookendstretch/000/sim_info +dataset size 84.85 MB; whole cell dir 86.5 MB +RESULT: ALL PASS diff --git a/N034/stretch3/dr_off/seed_1131/rec/stationbookendstretch/000/completed/0.json b/N034/stretch3/dr_off/seed_1131/rec/stationbookendstretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..565ef5f65941ce16df1aafe3e0687de9fab4723e --- /dev/null +++ b/N034/stretch3/dr_off/seed_1131/rec/stationbookendstretch/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationbookendstretch/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N034/stretch3/dr_off/seed_1131/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/stretch3/dr_off/seed_1131/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..78d3cf6c63ce77bb2089fefdc8d45251a07c899c --- /dev/null +++ b/N034/stretch3/dr_off/seed_1131/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a67edfdc28a75b539725bd81c78edca629bf6030e3a7270095ecb8498404563 +size 3638640 diff --git a/N034/stretch3/dr_off/seed_1131/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl b/N034/stretch3/dr_off/seed_1131/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..76ed966d1bdb0379bb3e3ac9b5c563295a7d40a0 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1131/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 2789, "magicsim/control_steps": 5578, "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 slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is on top of the bookend. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, slightly above table height."} diff --git a/N034/stretch3/dr_off/seed_1131/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/stretch3/dr_off/seed_1131/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ebbcbaf716562d77d8f00f2f8f09d40934d772eb --- /dev/null +++ b/N034/stretch3/dr_off/seed_1131/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [-0.006824348625109567, 0.0, -0.036933394772888525, 0.7232532274096873, 1.3815569245487227, 0.6631116237145421, -0.28910609697352047, 0.017114040108913688, -0.13672600546629754, -0.032937947386363506, 0.6468268196486195], "std": [0.1406780183566472, 0.0, 0.1708989471982671, 1.4357540151484194, 1.8375471638950756, 0.17740966288077625, 0.5411190345422378, 0.40796361031724987, 0.4281990922245857, 0.5037332983894666, 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"HelloRobot", + "model": "hellorobot", + "type": "mobilemanip", + "noun": "Hello Robot Stretch 3 mobile manipulator", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.4, + -2.2, + 0.06 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the brown slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is on top of the bookend. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [[bookend]\n\n\n\n [slot [book]\n\n\n\n[robot]" + }, + "task": { + "task_type": "StationBookendStretch", + "instruction": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.", + "template_id": -1, + "slots": { + "obj": 3.2450152631491265, + "support": null + }, + "generic_instruction": "Stationbookendstretch the 3.2450152631491265.", + "task_id": "N034", + "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/N034/stretch3/dr_off/seed_1131/rec/stationbookendstretch/000/lerobot_v21/meta/info.json b/N034/stretch3/dr_off/seed_1131/rec/stationbookendstretch/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f294525c5626d87afbf62e23920baebfba420207 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1131/rec/stationbookendstretch/000/lerobot_v21/meta/info.json @@ -0,0 +1,298 @@ +{ + "codebase_version": "v2.1", + "robot_type": "HelloRobotCfg", + "total_episodes": 1, + "total_frames": 2789, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "arm_action_0", + "arm_action_1", + "arm_action_2", + "arm_action_3", + "arm_action_4", + "arm_action_5", + "arm_action_6", + "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", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 15 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 49 + ], + "names": [ + "object_pose.book.0", + "object_pose.book.1", + "object_pose.book.2", + "object_pose.book.3", + "object_pose.book.4", + "object_pose.book.5", + "object_pose.book.6", + "object_pose.bookend.0", + "object_pose.bookend.1", + "object_pose.bookend.2", + "object_pose.bookend.3", + "object_pose.bookend.4", + "object_pose.bookend.5", + "object_pose.bookend.6", + "object_pose.plate.0", + "object_pose.plate.1", + "object_pose.plate.2", + "object_pose.plate.3", + "object_pose.plate.4", + "object_pose.plate.5", + "object_pose.plate.6", + "object_pose.slot_left.0", + "object_pose.slot_left.1", + "object_pose.slot_left.2", + "object_pose.slot_left.3", + "object_pose.slot_left.4", + "object_pose.slot_left.5", + "object_pose.slot_left.6", + "object_pose.slot_right.0", + "object_pose.slot_right.1", + "object_pose.slot_right.2", + "object_pose.slot_right.3", + "object_pose.slot_right.4", + "object_pose.slot_right.5", + "object_pose.slot_right.6", + "object_pose.table_A.0", + "object_pose.table_A.1", + "object_pose.table_A.2", + "object_pose.table_A.3", + "object_pose.table_A.4", + "object_pose.table_A.5", + "object_pose.table_A.6", + "object_pose.table_B.0", + "object_pose.table_B.1", + "object_pose.table_B.2", + "object_pose.table_B.3", + "object_pose.table_B.4", + "object_pose.table_B.5", + "object_pose.table_B.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 912 + ], + "names": null + }, + "action.applied": { + "dtype": "float32", + "shape": [ + 13 + ], + "names": null + }, + "narration": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "collect_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "extra.reward": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "extra.action_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "sim_step_idx": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "observation.images.head": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N034/stretch3/dr_off/seed_1131/rec/stationbookendstretch/000/lerobot_v21/meta/magicsim_manifest.json b/N034/stretch3/dr_off/seed_1131/rec/stationbookendstretch/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..fa5d7d04f89f29a16492bfd4614049c7ea59d865 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1131/rec/stationbookendstretch/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 06:59:57" + }, + "embodiment": { + "robots": [ + { + "name": "HelloRobot", + "cfg": "HelloRobotCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "HelloRobot.base_action", + "start": 0, + "end": 3, + "names": [ + 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sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "HelloRobot.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HelloRobotBaseAction", + "names_source": "_joint_names" + }, + { + "name": "HelloRobot.arm_action", + "start": 3, + "end": 10, + "names": [ + "arm_action_0", + "arm_action_1", + "arm_action_2", + "arm_action_3", + "arm_action_4", + "arm_action_5", + "arm_action_6" + ], + "source": "HelloRobotIKAction", + "names_source": "fallback" + }, + { + "name": "HelloRobot.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "HelloRobot.joint_pos", + "start": 0, + "end": 15, + "names": [ + "dummy_base_prismatic_x_joint", + 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"/robot_state[0]/HelloRobot/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/joint_effort:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_pos:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_vel:(1, 15):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1357.8, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 63.0 + } +} diff --git a/N034/stretch3/dr_on/seed_2088/check.json b/N034/stretch3/dr_on/seed_2088/check.json new file mode 100644 index 0000000000000000000000000000000000000000..cf70f8532e3eab7389bf198052ef7131c732ab31 --- /dev/null +++ b/N034/stretch3/dr_on/seed_2088/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: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "3068 rows vs ceil(6135/2) = 3068" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..6235, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "93.23 MB, 3068 frames at 25 fps, mean luma 132..169, std 22, new picture 3067x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "3068 vs 3068" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "77.87 MB, 3068 frames at 25 fps, mean luma 90..165, std 30, new picture 3067x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "3068 vs 3068" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationbookendstretch/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N034/stretch3/dr_on/seed_2088/check.txt b/N034/stretch3/dr_on/seed_2088/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..e6b243968d483d3c887d426fbc2a7882112961af --- /dev/null +++ b/N034/stretch3/dr_on/seed_2088/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_str_on_2088/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_str_on_2088/out/rec/stationbookendstretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 3068 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: 3068 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: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.' +rows 3068 at dataset fps 25 = 122.72 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3068 rows vs ceil(6135/2) = 3068 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..6235, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 93.23 MB, 3068 frames at 25 fps, mean luma 132..169, std 22, new picture 3067x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 3068 vs 3068 +[PASS] video observation.images.wrist decodes, 640x480, not black: 77.87 MB, 3068 frames at 25 fps, mean luma 90..165, std 30, new picture 3067x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 3068 vs 3068 +parquet size 3.58 MB +[PASS] sim_info present: rec/stationbookendstretch/000/sim_info +dataset size 174.90 MB; whole cell dir 176.7 MB +RESULT: ALL PASS diff --git a/N034/stretch3/dr_on/seed_2088/rec/stationbookendstretch/000/completed/0.json b/N034/stretch3/dr_on/seed_2088/rec/stationbookendstretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..565ef5f65941ce16df1aafe3e0687de9fab4723e --- /dev/null +++ b/N034/stretch3/dr_on/seed_2088/rec/stationbookendstretch/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationbookendstretch/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N034/stretch3/dr_on/seed_2088/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/stretch3/dr_on/seed_2088/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..7fc10c5b34299fc737564a534d42bad0629d6dde --- /dev/null +++ b/N034/stretch3/dr_on/seed_2088/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45628aea067b6c31ed58d42f54a0b3d51bc308f4480a3aa31840cdd076dbf636 +size 3583692 diff --git a/N034/stretch3/dr_on/seed_2088/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl b/N034/stretch3/dr_on/seed_2088/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4db72f0622ed204d59d6c9ef6f31408e2f0ed826 --- /dev/null +++ b/N034/stretch3/dr_on/seed_2088/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 3068, "magicsim/control_steps": 6135, "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 slot right. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot left. The gray table B is to the left of the bookend. The red book is on top of the brown slot right. The gray plate is on top of the bookend. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, slightly above table height."} diff --git a/N034/stretch3/dr_on/seed_2088/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/stretch3/dr_on/seed_2088/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..485f18edd6a3d28e0f7f1be05afa3eb7f3279b55 --- /dev/null +++ b/N034/stretch3/dr_on/seed_2088/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [-0.010154546951241256, 0.0, 0.018281170795474328, 0.7980202151707713, 1.5606551420142707, 0.6196994112884672, -0.3825240032019982, 0.04238011010955505, -0.2445310820974041, -0.09077571418544343, 0.7040417209908736], "std": [0.1292972954813423, 0.0, 0.15155206546245065, 1.2340710922452802, 1.8055462406485323, 0.1945684698305418, 0.47698921082798007, 0.3935753746501436, 0.41025711654017993, 0.4828171602322084, 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The scene is viewed from front, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [bookend]\n\n\n\n [slot[book]]\n\n\n\n[robot]" + }, + "task": { + "task_type": "StationBookendStretch", + "instruction": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.", + "template_id": -1, + "slots": { + "obj": 3.2454932856796463, + "support": null + }, + "generic_instruction": "Stationbookendstretch the 3.2454932856796463.", + "task_id": "N034", + "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/N034/stretch3/dr_on/seed_2088/rec/stationbookendstretch/000/lerobot_v21/meta/info.json 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