diff --git a/N025/go2_arm/dr_off/seed_1027/check.json b/N025/go2_arm/dr_off/seed_1027/check.json new file mode 100644 index 0000000000000000000000000000000000000000..5b9a03c6a4ad4cc6b3325d75c54c53b8dc795231 --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1027/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": "1670 rows vs ceil(3339/2) = 1670" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..3369, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "16.54 MB, 1670 frames at 25 fps, mean luma 111..142, std 23, new picture 1669x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1670 vs 1670" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "25.45 MB, 1670 frames at 25 fps, mean luma 113..173, std 30, new picture 1669x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1670 vs 1670" + }, + "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_1027/check.txt b/N025/go2_arm/dr_off/seed_1027/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..ca8c8f96bb4b02f2408bbc09f5e4adeffd899653 --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1027/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_go2_off_1027/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_go2_off_1027/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1670 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: 1670 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 1670 at dataset fps 25 = 66.80 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1670 rows vs ceil(3339/2) = 1670 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..3369, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 16.54 MB, 1670 frames at 25 fps, mean luma 111..142, std 23, new picture 1669x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1670 vs 1670 +[PASS] video observation.images.wrist decodes, 640x480, not black: 25.45 MB, 1670 frames at 25 fps, mean luma 113..173, std 30, new picture 1669x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1670 vs 1670 +parquet size 18.45 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 60.69 MB; whole cell dir 62.2 MB +RESULT: ALL PASS diff --git a/N025/go2_arm/dr_off/seed_1027/report.json b/N025/go2_arm/dr_off/seed_1027/report.json new file mode 100644 index 0000000000000000000000000000000000000000..4382542d56a4264df2e0ad6129e10574338177e0 --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1027/report.json @@ -0,0 +1,2084 @@ +{ + "task": "N025", + "agent_id": null, + "embodiment": "go2_arm", + "level": "easy", + "scene_seed": 1027, + "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": 1027, + "wedge": { + "dx": -0.01315, + "dy": 0.02894, + "yaw_deg": 1.69346 + }, + "shim_board": { + "dx": -0.0024, + "dy": -0.00729, + "yaw_deg": 3.52669 + }, + "wedge_mass": 0.03948, + "light": 1017.10045, + "spawn": { + "dx": -0.08588, + "dy": 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b/N025/sawyer_umi/dr_off/seed_1021/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 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": "1394 rows vs ceil(2788/2) = 1394" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..2817, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "13.88 MB, 1394 frames at 25 fps, mean luma 84..140, std 37, new picture 1393x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1394 vs 1394" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "23.13 MB, 1394 frames at 25 fps, mean luma 96..174, std 40, new picture 1393x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1394 vs 1394" + }, + "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_1021/check.txt b/N025/sawyer_umi/dr_off/seed_1021/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..70761a406ba675471021edda9b2831a424f933fc --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1021/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_saw_off_1021/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_saw_off_1021/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1394 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: 1394 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 1394 at dataset fps 25 = 55.76 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1394 rows vs ceil(2788/2) = 1394 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..2817, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 13.88 MB, 1394 frames at 25 fps, mean luma 84..140, std 37, new picture 1393x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1394 vs 1394 +[PASS] video observation.images.wrist decodes, 640x480, not black: 23.13 MB, 1394 frames at 25 fps, mean luma 96..174, std 40, new picture 1393x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1394 vs 1394 +parquet size 2.06 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 39.26 MB; whole cell dir 40.2 MB +RESULT: ALL PASS diff --git a/N025/sawyer_umi/dr_off/seed_1021/report.json b/N025/sawyer_umi/dr_off/seed_1021/report.json new file mode 100644 index 0000000000000000000000000000000000000000..fca278ab551730381971cdbac546d69d6ad6951b --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1021/report.json @@ -0,0 +1,1805 @@ +{ + "task": "N025", + "agent_id": null, + "embodiment": "sawyer_umi", + "level": "easy", + "scene_seed": 1021, + "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": 1021, + "wedge": { + "dx": 0.06294, + "dy": 0.05408, + "yaw_deg": 4.3871 + }, + "shim_board": { + "dx": -0.07151, + "dy": -0.02724, + "yaw_deg": 3.92152 + }, + "wedge_mass": 0.02547, + "light": 902.10823, + "spawn": { + "dx": 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a/N025/sawyer_umi/dr_off/seed_1021/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json b/N025/sawyer_umi/dr_off/seed_1021/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..b3c95701c2a0f39b728edad7ea585c383cb4636c --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1021/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,593 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "StationAssembly", + "subsample_every": 2, + "control_steps": 2788, + "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": [ + 4.32598454464559, + 0.23816873293763935, + 0.17000009115232217 + ], + "bbox": { + "extent": [ + 1.0, + 1.0000000000000002, + 1.0 + ], + "center": [ + 0.0, + -1.1102230246251565e-16, + 0.0 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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 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-right, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [shim board]\n\n\n[[wedge]]\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": 1.5707963267948966, + "support": null + }, + "generic_instruction": "Stationassembly the 1.5707963267948966.", + "task_id": "N025", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0641": { + "frame_idx": 641, + "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": "NavTo", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_0648": { + "frame_idx": 648, + "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the right 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", + "right_of", + "in_front_of" + ] + }, + "frame_0651": { + "frame_idx": 651, + "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_0655": { + "frame_idx": 655, + "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_0682": { + "frame_idx": 682, + "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_0701": { + "frame_idx": 701, + "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_0805": { + "frame_idx": 805, + "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_0812": { + "frame_idx": 812, + "caption": "Working on the small wedge; the right gripper is below and to the left 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" + ] + }, + "frame_0880": { + "frame_idx": 880, + "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_1170": { + "frame_idx": 1170, + "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_1171": { + "frame_idx": 1171, + "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_1200": { + "frame_idx": 1200, + "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_1285": { + "frame_idx": 1285, + "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_2284": { + "frame_idx": 2284, + "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": "NavTo", + "planner_state": "finished", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2292": { + "frame_idx": 2292, + "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_2502": { + "frame_idx": 2502, + "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_2505": { + "frame_idx": 2505, + "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" + ] + } + } + }, + "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/N025/sawyer_umi/dr_off/seed_1021/stationassembly/000/lerobot_v21/meta/info.json b/N025/sawyer_umi/dr_off/seed_1021/stationassembly/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..198d089679b0bee029797346727881954feb5e16 --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1021/stationassembly/000/lerobot_v21/meta/info.json @@ -0,0 +1,277 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 1394, + "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" + ] + }, + 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+ } + }, + "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/N025/sawyer_umi/dr_off/seed_1021/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json b/N025/sawyer_umi/dr_off/seed_1021/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..6edd5e84904494d3b7e1f86b66752ab67b99e9dc --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1021/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,264 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 04:23:32" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + 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"assemble" + } + ] + } + }, + "global_planner": { + "NavTo": { + "use_navmesh": true, + "use_absolute": true, + "translation_threshold": 0.2, + "rotation_threshold": 0.15, + "num_path_segments": 30, + "start_forward_offset": 0.0, + "visualize_path": false, + "carry_arm": true + }, + "MobileMoveL": { + "translation_threshold": 0.006, + "rotation_threshold": 0.2, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 1800, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "waypoint_max_steps": 20, + "interp_steps": 60, + "retry_mobile_on_locked_plan_failure": true, + "debug": false, + "debug_viz": false + }, + "AssemblyServoL": { + "translation_threshold": 0.0003, + "rotation_threshold": 0.005, + "motiongen_distance_threshold": 0.0, + "timeout_steps": 1000000, + "min_steps_before_done": 1000000, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 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0.05, + "obstacle_avoidance": [ + "dynamic" + ], + "walk_planner": "MobileServoL", + "strategy_kwargs": { + "reach_steps": 2 + }, + "pre_grasp_planner": "MobileMoveL", + "pre_grasp_mode": -1, + "goalset_lock_base": true, + "debug": true + }, + "AssemblyGrasp": { + "pre_grasp_offset_x": 0.12, + "retrieval_offset_x": 0.15, + "mobile": true, + "pre_grasp_planner": "MobileMoveL", + "pre_grasp_mode": -1, + "grasp_mode": 4, + "retrieval_mode": 4, + "goalset_lock_base": true, + "reactive": false, + "viz_grasp": false, + "close_settle_steps": 10, + "obstacle_ignore": [ + "table_A" + ] + }, + "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": { + 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a/N025/sawyer_umi/dr_off/seed_1021/stationassembly/000/sim_info/magicsim_manifest.json b/N025/sawyer_umi/dr_off/seed_1021/stationassembly/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..bbced581b536226bd00ec36da0de9c8d80114151 --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1021/stationassembly/000/sim_info/magicsim_manifest.json @@ -0,0 +1,233 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 04:24:02" + }, + "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_off/seed_1022/check.json b/N025/sawyer_umi/dr_off/seed_1022/check.json new file mode 100644 index 0000000000000000000000000000000000000000..55aaa78ffd245173565dc6ff621157aef01f6eb2 --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1022/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', '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": "1363 rows vs ceil(2726/2) = 1363" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..2755, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "13.80 MB, 1363 frames at 25 fps, mean luma 90..141, std 36, new picture 1362x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1363 vs 1363" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "23.40 MB, 1363 frames at 25 fps, mean luma 95..172, std 38, new picture 1362x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1363 vs 1363" + }, + "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_1022/check.txt b/N025/sawyer_umi/dr_off/seed_1022/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..d03c50cbb93d6b3fa624143e8c386836ad19d8dd --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1022/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_saw_off_1022/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_saw_off_1022/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1363 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: 1363 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 1363 at dataset fps 25 = 54.52 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1363 rows vs ceil(2726/2) = 1363 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..2755, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 13.80 MB, 1363 frames at 25 fps, mean luma 90..141, std 36, new picture 1362x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1363 vs 1363 +[PASS] video observation.images.wrist decodes, 640x480, not black: 23.40 MB, 1363 frames at 25 fps, mean luma 95..172, std 38, new picture 1362x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1363 vs 1363 +parquet size 2.03 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 39.41 MB; whole cell dir 40.3 MB +RESULT: ALL PASS diff --git a/N025/sawyer_umi/dr_off/seed_1022/report.json b/N025/sawyer_umi/dr_off/seed_1022/report.json new file mode 100644 index 0000000000000000000000000000000000000000..c6c9d2f6b5b010f26ece270e60386f670d5533ed --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1022/report.json @@ -0,0 +1,1775 @@ +{ + "task": "N025", + "agent_id": null, + "embodiment": "sawyer_umi", + "level": "easy", + "scene_seed": 1022, + "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": 1022, + "wedge": { + "dx": -0.07292, + "dy": 0.01863, + "yaw_deg": -9.97103 + }, + "shim_board": { + "dx": 0.00921, + "dy": -0.04101, + "yaw_deg": -1.82553 + }, + "wedge_mass": 0.03997, + "light": 985.79802, + "spawn": { + "dx": 0.09897, + "dy": -0.13558, + "yaw_deg": -1.695 + }, 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a/N025/sawyer_umi/dr_off/seed_1022/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json b/N025/sawyer_umi/dr_off/seed_1022/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..946f10c2d9a665241da9894f33e65debe3fe1669 --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1022/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,549 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "StationAssembly", + "subsample_every": 2, + "control_steps": 2726, + "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": [ + 4.307734111719125, + 0.8930753439136303, + 0.17000003583869955 + ], + "bbox": { + "extent": [ + 1.0, + 1.0000000000000002, + 1.0 + ], + "center": [ + 0.0, + -1.1102230246251565e-16, + 0.0 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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 medium shim board and a small wedge. The gray table A is in front of the wedge. The gray table B is behind the shim board. The shim board is on top of the gray table B. The shim board is in front 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, at 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": 1.5707963267948966, + "support": null + }, + "generic_instruction": "Stationassembly the 1.5707963267948966.", + "task_id": "N025", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0650": { + "frame_idx": 650, + "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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"pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "behind" + ] + }, + "frame_0876": { + "frame_idx": 876, + "caption": "Working on the small wedge; the right gripper is below and to the left 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" + ] + }, + "frame_0887": { + "frame_idx": 887, + "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_1149": { + "frame_idx": 1149, + "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_1150": { + "frame_idx": 1150, + "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_1176": { + "frame_idx": 1176, + "caption": "Working on the small wedge; the right gripper is below and to the left 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" + ] + }, + "frame_1202": { + "frame_idx": 1202, + "caption": "Working on the 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"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": [ + 1.2092100381851196, + 3.108989953994751, + 0.4300000071525574 + ], + "ori": [ + -0.6957527995109558, + 0.0, + 0.0, + 0.7182813286781311 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "collision": true, + "fixed_base": true, + 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"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_1022/stationassembly/000/sim_info/0/sim_states.npz b/N025/sawyer_umi/dr_off/seed_1022/stationassembly/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..949798c6b8b8bc51496a87a7adea751790331d15 --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1022/stationassembly/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37858fb7b8f367eee27d3a0d841e27b28fcd19c76087cdeeb200f588f3c8d562 +size 384852 diff --git a/N025/sawyer_umi/dr_off/seed_1022/stationassembly/000/sim_info/magicsim_manifest.json b/N025/sawyer_umi/dr_off/seed_1022/stationassembly/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..2f0d61bb105a364adfab81e3c26a1cce51a3c88a --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1022/stationassembly/000/sim_info/magicsim_manifest.json @@ -0,0 +1,233 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 04:22:17" + }, + "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_2022/check.json b/N025/sawyer_umi/dr_on/seed_2022/check.json new file mode 100644 index 0000000000000000000000000000000000000000..67211d5549207a015fc4d40132e02f0149408eb8 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2022/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": "1387 rows vs ceil(2774/2) = 1387" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..2803, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "25.76 MB, 1387 frames at 25 fps, mean luma 71..136, std 49, 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": "27.14 MB, 1387 frames at 25 fps, mean luma 87..165, std 41, 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": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_on/seed_2022/check.txt b/N025/sawyer_umi/dr_on/seed_2022/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..271bebb3d5639bad012ab5dec8e53167074642bc --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2022/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_saw_on_2022/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_saw_on_2022/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1387 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: 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 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 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 31..2803, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 25.76 MB, 1387 frames at 25 fps, mean luma 71..136, std 49, 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: 27.14 MB, 1387 frames at 25 fps, mean luma 87..165, std 41, new picture 1386x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1387 vs 1387 +parquet size 2.03 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 55.10 MB; whole cell dir 56.0 MB +RESULT: ALL PASS diff --git a/N025/sawyer_umi/dr_on/seed_2022/report.json b/N025/sawyer_umi/dr_on/seed_2022/report.json new file mode 100644 index 0000000000000000000000000000000000000000..fb67694daaee2db274854e969fbbb5d7345b0b1d --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2022/report.json @@ -0,0 +1,1800 @@ +{ + "task": "N025", + "agent_id": null, + "embodiment": "sawyer_umi", + "level": "easy", + "scene_seed": 2022, + "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": 2022, + "wedge": { + "dx": 0.01409, + "dy": 0.07848, + "yaw_deg": -3.31106 + }, + "shim_board": { + "dx": 0.0314, + "dy": -0.04941, + "yaw_deg": -0.20844 + }, + "wedge_mass": 0.02611, + "light": 1139.11313, + "spawn": { + "dx": -0.04374, + "dy": 0.10048, + "yaw_deg": 8.64698 + }, + 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+ "name": "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": [ + -3.64374, + -2.39952, + 0.06 + ], + "ori": [ + 0.8258671760559082, + 0.0, + 0.0, + 0.5638647079467773 + ] + }, + "facing_yaw_deg": 68.64698340243298, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1139.11313, + "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 medium shim board and a small wedge. The gray table B is behind the shim board. The shim board is on top of the gray table B. The shim board is in front of the gray table B. The wedge is on top of the gray table A. The scene is viewed from front-right, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [shim board]\n\n\n [[wedge]]\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": 1.5707963267948966, + "support": null + }, + "generic_instruction": "Stationassembly the 1.5707963267948966.", + "task_id": "N025", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0632": { + "frame_idx": 632, + "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": "NavTo", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + 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"planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_0869": { + "frame_idx": 869, + "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_1164": { + "frame_idx": 1164, + "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_1165": { + "frame_idx": 1165, + "caption": "Working on the small wedge; the right gripper is below the wedge.", + "skill": "CarryPose", + "phase": null, + "skill_state": 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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": "NavTo", + "planner_state": "finished", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2286": { + "frame_idx": 2286, + "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_2491": { + "frame_idx": 2491, + "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", + 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a/N025/sawyer_umi/dr_on/seed_2022/stationassembly/000/sim_info/0/sim_states.npz b/N025/sawyer_umi/dr_on/seed_2022/stationassembly/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..8d9eec537b5c84b2488a860133d97dcb086977c3 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2022/stationassembly/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d4fe84150bf347f3427f1ddebc5fcacdcdd755a4919d0ea043318f9a7f119dc +size 392969 diff --git a/N025/sawyer_umi/dr_on/seed_2022/stationassembly/000/sim_info/magicsim_manifest.json b/N025/sawyer_umi/dr_on/seed_2022/stationassembly/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..75de47f6e1a2403287fbe72e12a76fee30fa3ac1 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2022/stationassembly/000/sim_info/magicsim_manifest.json @@ -0,0 +1,233 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 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(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, + 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"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_on/seed_2023/check.json b/N025/sawyer_umi/dr_on/seed_2023/check.json new file mode 100644 index 0000000000000000000000000000000000000000..4f4488ddfc7b4c671f8f47427355db6dc221489d --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2023/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": "1354 rows vs ceil(2708/2) = 1354" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..2737, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "27.84 MB, 1354 frames at 25 fps, mean luma 73..105, std 37, new picture 1353x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1354 vs 1354" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "25.01 MB, 1354 frames at 25 fps, mean luma 76..150, std 28, new picture 1353x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1354 vs 1354" + }, + "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_2023/check.txt b/N025/sawyer_umi/dr_on/seed_2023/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..8bd7e1f5b985e16632ddda3655e8c70acac1cf5f --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2023/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_saw_on_2023/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_saw_on_2023/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1354 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: 1354 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 1354 at dataset fps 25 = 54.16 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1354 rows vs ceil(2708/2) = 1354 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..2737, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 27.84 MB, 1354 frames at 25 fps, mean luma 73..105, std 37, new picture 1353x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1354 vs 1354 +[PASS] video observation.images.wrist decodes, 640x480, not black: 25.01 MB, 1354 frames at 25 fps, mean luma 76..150, std 28, new picture 1353x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1354 vs 1354 +parquet size 2.03 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 55.05 MB; whole cell dir 56.0 MB +RESULT: ALL PASS diff --git a/N025/sawyer_umi/dr_on/seed_2023/report.json b/N025/sawyer_umi/dr_on/seed_2023/report.json new file mode 100644 index 0000000000000000000000000000000000000000..88711f042d43aec4363cdfa6d0166ae0126b981d --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2023/report.json @@ -0,0 +1,1765 @@ +{ + 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b/N025/sawyer_umi/dr_on/seed_2023/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,532 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "StationAssembly", + "subsample_every": 2, + "control_steps": 2708, + "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": [ + 4.364968702402737, + 0.35377460173340286, + 0.1700000981330982 + ], + "bbox": { + "extent": [ + 1.0, + 1.0000000000000002, + 1.0 + ], + "center": [ + 0.0, + -1.1102230246251565e-16, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + "inst_id": 1, + "noun": "table B", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 7.080434270384004, + -1.9081375869043835, + 0.17000010767090074 + ], + "bbox": { + "extent": [ + 0.9999999999999999, + 1.0, + 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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 behind the shim board. The shim board is on top of the gray table B. The shim board is in front of the gray table B. The wedge is on top of the gray table A. The wedge is behind the gray table A. 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b/N025/sawyer_umi/dr_on/seed_2023/stationassembly/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..521b290ddfcb9dbc9e2a193671444585b210f98f --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2023/stationassembly/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8dcc28a8985c7a5fbf324577b25be2f85953169136f20ca05af442ca417285c6 +size 382050 diff --git a/N025/sawyer_umi/dr_on/seed_2023/stationassembly/000/sim_info/magicsim_manifest.json b/N025/sawyer_umi/dr_on/seed_2023/stationassembly/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..6498bd3097c5df856b9915cf394d378ab2bd9459 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2023/stationassembly/000/sim_info/magicsim_manifest.json @@ -0,0 +1,233 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 04:31:18" + }, + "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": 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"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": { + 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of file diff --git a/N025/stretch3/dr_off/seed_1016/check.json b/N025/stretch3/dr_off/seed_1016/check.json new file mode 100644 index 0000000000000000000000000000000000000000..efda33747e4d61bd84ec82cb7800b508d21c6a86 --- /dev/null +++ b/N025/stretch3/dr_off/seed_1016/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": "2409 rows vs ceil(4817/2) = 2409" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..4847, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "21.92 MB, 2409 frames at 25 fps, mean luma 109..147, std 15, new picture 2408x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2409 vs 2409" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "42.04 MB, 2409 frames at 25 fps, mean luma 124..169, std 29, new picture 2408x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2409 vs 2409" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N025/stretch3/dr_off/seed_1016/check.txt b/N025/stretch3/dr_off/seed_1016/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..410dbe11c3b549bc658e6090b48a7ccbd5a105be --- /dev/null +++ b/N025/stretch3/dr_off/seed_1016/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_str_off_1016/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_str_off_1016/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2409 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: 2409 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 2409 at dataset fps 25 = 96.36 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2409 rows vs ceil(4817/2) = 2409 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..4847, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 21.92 MB, 2409 frames at 25 fps, mean luma 109..147, std 15, new picture 2408x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2409 vs 2409 +[PASS] video observation.images.wrist decodes, 640x480, not black: 42.04 MB, 2409 frames at 25 fps, mean luma 124..169, std 29, new picture 2408x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2409 vs 2409 +parquet size 2.75 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 66.91 MB; whole cell dir 68.3 MB +RESULT: ALL PASS diff --git a/N025/stretch3/dr_off/seed_1016/report.json b/N025/stretch3/dr_off/seed_1016/report.json new file mode 100644 index 0000000000000000000000000000000000000000..5e7e0b8dd7913449afae09d0200faabace8311ca --- /dev/null +++ b/N025/stretch3/dr_off/seed_1016/report.json @@ -0,0 +1,2898 @@ +{ + "task": "N025", + "agent_id": null, + "embodiment": "stretch3", + "level": "easy", + "scene_seed": 1016, + "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": 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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-right, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [shim board]\n\n\n[[wedge]]\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_1655": { + "frame_idx": 1655, + "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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a/N025/stretch3/dr_off/seed_1016/stationassembly/000/sim_info/0/device_events.jsonl b/N025/stretch3/dr_off/seed_1016/stationassembly/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N025/stretch3/dr_off/seed_1016/stationassembly/000/sim_info/0/scene_snapshot.json b/N025/stretch3/dr_off/seed_1016/stationassembly/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..c46906928730b9f9d19973d894aa99eb7f0a0427 --- /dev/null +++ b/N025/stretch3/dr_off/seed_1016/stationassembly/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,338 @@ +{ + "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": 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+++ b/N025/stretch3/dr_off/seed_1016/stationassembly/000/sim_info/magicsim_manifest.json @@ -0,0 +1,228 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 04:20:50" + }, + "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 \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/N025/stretch3/dr_on/seed_2020/check.json b/N025/stretch3/dr_on/seed_2020/check.json new file mode 100644 index 0000000000000000000000000000000000000000..5c2c741c88f57a2633834fb855a121d077d3dad2 --- /dev/null +++ b/N025/stretch3/dr_on/seed_2020/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": "2443 rows vs ceil(4885/2) = 2443" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..4915, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "55.12 MB, 2443 frames at 25 fps, mean luma 88..172, std 47, new picture 2442x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2443 vs 2443" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "59.74 MB, 2443 frames at 25 fps, mean luma 96..172, std 35, new picture 2442x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2443 vs 2443" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N025/stretch3/dr_on/seed_2020/check.txt b/N025/stretch3/dr_on/seed_2020/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..d9637fe42071b0c5df9cfb8374d4e54ab244ed02 --- /dev/null +++ b/N025/stretch3/dr_on/seed_2020/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_str_on_2020/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_str_on_2020/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2443 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: 2443 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 2443 at dataset fps 25 = 97.72 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2443 rows vs ceil(4885/2) = 2443 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..4915, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 55.12 MB, 2443 frames at 25 fps, mean luma 88..172, std 47, new picture 2442x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2443 vs 2443 +[PASS] video observation.images.wrist decodes, 640x480, not black: 59.74 MB, 2443 frames at 25 fps, mean luma 96..172, std 35, new picture 2442x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2443 vs 2443 +parquet size 2.78 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 117.84 MB; whole cell dir 119.3 MB +RESULT: ALL PASS diff --git a/N025/stretch3/dr_on/seed_2020/report.json b/N025/stretch3/dr_on/seed_2020/report.json new file mode 100644 index 0000000000000000000000000000000000000000..0b23058056f3645b5e5482e74b678f158a55b7e3 --- /dev/null +++ b/N025/stretch3/dr_on/seed_2020/report.json @@ -0,0 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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-right, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [shim board]\n\n\n[t[wedge]\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_1649": { + "frame_idx": 1649, + "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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{ + "root": "/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_on/seed_2021/check.json b/N025/stretch3/dr_on/seed_2021/check.json new file mode 100644 index 0000000000000000000000000000000000000000..73467d7d77fd42433c5887c19a8145ea570780ef --- /dev/null +++ b/N025/stretch3/dr_on/seed_2021/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": "2419 rows vs ceil(4837/2) = 2419" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..4867, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "66.28 MB, 2419 frames at 25 fps, mean luma 46..116, std 27, new picture 2418x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2419 vs 2419" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "57.35 MB, 2419 frames at 25 fps, mean luma 47..165, std 44, new picture 2418x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2419 vs 2419" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N025/stretch3/dr_on/seed_2021/check.txt b/N025/stretch3/dr_on/seed_2021/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..da0301c337f0ef37287844454c8cc4c20237ab20 --- /dev/null +++ b/N025/stretch3/dr_on/seed_2021/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_str_on_2021/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_str_on_2021/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2419 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: 2419 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 2419 at dataset fps 25 = 96.76 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2419 rows vs ceil(4837/2) = 2419 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..4867, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 66.28 MB, 2419 frames at 25 fps, mean luma 46..116, std 27, new picture 2418x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2419 vs 2419 +[PASS] video observation.images.wrist decodes, 640x480, not black: 57.35 MB, 2419 frames at 25 fps, mean luma 47..165, std 44, new picture 2418x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2419 vs 2419 +parquet size 2.74 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 126.57 MB; whole cell dir 128.0 MB +RESULT: ALL PASS diff --git a/N025/stretch3/dr_on/seed_2021/report.json b/N025/stretch3/dr_on/seed_2021/report.json new file mode 100644 index 0000000000000000000000000000000000000000..60d0bbb882895cc06a0a077c864eb39a86d6688e --- /dev/null +++ b/N025/stretch3/dr_on/seed_2021/report.json @@ -0,0 +1,2912 @@ +{ + "task": "N025", + "agent_id": null, + "embodiment": "stretch3", + "level": "easy", + "scene_seed": 2021, + "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": 2021, + "wedge": { + "dx": 0.01034, + "dy": -0.00802, + "yaw_deg": 6.217 + }, + "shim_board": { + "dx": -0.02397, + "dy": 0.04242, + "yaw_deg": 0.93884 + }, + "wedge_mass": 0.0424, + "light": 1093.54103, + "spawn": { + "dx": 0.13099, + "dy": 0.14756, + "yaw_deg": 7.58385 + }, + "overrides": { + "env.scene.objects.wedge.common.pos": [ + -1.98966, + 1.39198, + 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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-right, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [shim board]\n\n\n[[wedge]]\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_1618": { + "frame_idx": 1618, + "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the right 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": 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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_1899": { + "frame_idx": 1899, + "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_1935": { + "frame_idx": 1935, + "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_2051": { + 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"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/N032/go2_arm/dr_off/seed_1023/check.json b/N032/go2_arm/dr_off/seed_1023/check.json new file mode 100644 index 0000000000000000000000000000000000000000..4df396ea5cd362d93745a0faea4877ac9b8118d5 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1023/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": "1720 rows vs ceil(3439/2) = 1720" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..3539, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "14.81 MB, 1720 frames at 25 fps, mean luma 100..141, std 29, new picture 1719x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1720 vs 1720" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "30.92 MB, 1720 frames at 25 fps, mean luma 100..175, std 29, new picture 1719x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1720 vs 1720" + }, + "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_1023/check.txt b/N032/go2_arm/dr_off/seed_1023/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..848005048f56a0aaa51fd8a2004d103c93f752f2 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1023/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_go2_off_1023/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_go2_off_1023/out/rec/stationpuzzle/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1720 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: 1720 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 1720 at dataset fps 25 = 68.80 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1720 rows vs ceil(3439/2) = 1720 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..3539, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 14.81 MB, 1720 frames at 25 fps, mean luma 100..141, std 29, new picture 1719x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1720 vs 1720 +[PASS] video observation.images.wrist decodes, 640x480, not black: 30.92 MB, 1720 frames at 25 fps, mean luma 100..175, std 29, new picture 1719x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1720 vs 1720 +parquet size 5.96 MB +[PASS] sim_info present: rec/stationpuzzle/000/sim_info +dataset size 51.97 MB; whole cell dir 53.9 MB +RESULT: ALL PASS diff --git a/N032/go2_arm/dr_off/seed_1023/rec/stationpuzzle/000/completed/0.json b/N032/go2_arm/dr_off/seed_1023/rec/stationpuzzle/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..8ccdef7d6fe05159c409af74707fd6bc60bede10 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1023/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_1023/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/go2_arm/dr_off/seed_1023/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..d9708f9ab6712b1bab22c75f26c104d6f6c068f2 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1023/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f8e11479b859b2805e0614ab2b9d50369f31b32313aceda07051ea5141c417e +size 5956361 diff --git a/N032/go2_arm/dr_off/seed_1023/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl b/N032/go2_arm/dr_off/seed_1023/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c3a2db634cc60336060c03f1ed4f26e9f192b019 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1023/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": 1720, "magicsim/control_steps": 3439, "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 to the left of the tile. 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 to the left of the gray table B. The scene is viewed from front, at table height."} diff --git a/N032/go2_arm/dr_off/seed_1023/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/go2_arm/dr_off/seed_1023/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..526d7ae1324cb3a6f2e78c72fc72a3c19254e7cf --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1023/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.17673977335135257, -0.003348523862984811, 0.018377822297787682, 0.33716278479889383, 0.6362292870272731, 0.5491498181726351, 0.6337733894240024, 0.05899861334108336, -0.6091425607024237, 0.44355311983070056, 0.13189259294615407, 0.43953488372093025], "std": [0.15330582436624332, 0.022229332545384263, 0.32850253580216726, 0.026236733811048407, 1.3556499576336707, 1.4689139286043178, 0.05162181708489102, 0.11442461991582595, 0.2338745079534071, 0.5806531453173099, 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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 to the left of the tile. 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 to the left of 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 B[tile]\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": 1.5110688603198486, + "support": null + }, + "generic_instruction": "Stationpuzzle the 1.5110688603198486.", + "task_id": "N032", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_1323": { + "frame_idx": 1323, + "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_1329": { + "frame_idx": 1329, + "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_1574": { + "frame_idx": 1574, + "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_1588": { + "frame_idx": 1588, + "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_1589": { + "frame_idx": 1589, + "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_1642": { + "frame_idx": 1642, + "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_1688": { + "frame_idx": 1688, + "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_1694": { + "frame_idx": 1694, + "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_1704": { + "frame_idx": 1704, + "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_1764": { + "frame_idx": 1764, + "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_1765": { + "frame_idx": 1765, + "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_1827": { + "frame_idx": 1827, + "caption": "Done — the small tile is grasped; the right gripper is below the tile.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + } + } + }, + "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/go2_arm/dr_off/seed_1023/rec/stationpuzzle/000/lerobot_v21/meta/info.json b/N032/go2_arm/dr_off/seed_1023/rec/stationpuzzle/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d304eaa134c471cdb419191644baeb2fd421f39 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1023/rec/stationpuzzle/000/lerobot_v21/meta/info.json @@ -0,0 +1,350 @@ +{ + "codebase_version": "v2.1", + "robot_type": "Go2PlusCfg", + "total_episodes": 1, + "total_frames": 1720, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 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} +} \ No newline at end of file diff --git a/N032/go2_arm/dr_off/seed_1023/rec/stationpuzzle/000/lerobot_v21/meta/magicsim_manifest.json b/N032/go2_arm/dr_off/seed_1023/rec/stationpuzzle/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..f82c3122c44c8e002e9cfe9b7d48238d56adf0a2 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1023/rec/stationpuzzle/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,290 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 04:29:07" + }, + "embodiment": { + "robots": [ + { + "name": "Go2Plus", + "cfg": "Go2PlusCfg", + "type": "mobilemanip", + "joint_names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + 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file diff --git a/N032/go2_arm/dr_off/seed_1023/rec/stationpuzzle/000/sim_info/0/sim_states.npz b/N032/go2_arm/dr_off/seed_1023/rec/stationpuzzle/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..e26a3b05b10791e2da503a4e2d064504baf47e95 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1023/rec/stationpuzzle/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c8f370fe48e02ac107589c15121c405c3983cee1ee21ef09bccebd3c2c46084 +size 825236 diff --git a/N032/go2_arm/dr_off/seed_1023/rec/stationpuzzle/000/sim_info/magicsim_manifest.json b/N032/go2_arm/dr_off/seed_1023/rec/stationpuzzle/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..8d1650d2c865d7ea0fabe6f266b80f338931a05f --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1023/rec/stationpuzzle/000/sim_info/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 04:29:30" + }, + "embodiment": { + "robots": [ + { + "name": "Go2Plus", + "cfg": "Go2PlusCfg", + "type": "mobilemanip", + "joint_names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + } + ] + }, + "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", + 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"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": 1156.7, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 31.4 + } +} diff --git a/N032/go2_arm/dr_on/seed_2024/check.json b/N032/go2_arm/dr_on/seed_2024/check.json new file mode 100644 index 0000000000000000000000000000000000000000..0524dcf0517466bfa3147d860fd392a7e124907c --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2024/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": "1695 rows vs ceil(3390/2) = 1695" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..3489, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "38.54 MB, 1695 frames at 25 fps, mean luma 53..116, std 49, new picture 1694x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1695 vs 1695" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "72.44 MB, 1695 frames at 25 fps, mean luma 78..167, std 39, new picture 1694x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1695 vs 1695" + }, + "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_2024/check.txt b/N032/go2_arm/dr_on/seed_2024/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..7b46ade90eb13d4c68d489a191d8491493c377d0 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2024/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_go2_on_2024/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_go2_on_2024/out/rec/stationpuzzle/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1695 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: 1695 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 1695 at dataset fps 25 = 67.80 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1695 rows vs ceil(3390/2) = 1695 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..3489, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 38.54 MB, 1695 frames at 25 fps, mean luma 53..116, std 49, new picture 1694x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1695 vs 1695 +[PASS] video observation.images.wrist decodes, 640x480, not black: 72.44 MB, 1695 frames at 25 fps, mean luma 78..167, std 39, new picture 1694x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1695 vs 1695 +parquet size 6.43 MB +[PASS] sim_info present: rec/stationpuzzle/000/sim_info +dataset size 117.69 MB; whole cell dir 119.6 MB +RESULT: ALL PASS diff --git a/N032/go2_arm/dr_on/seed_2024/rec/stationpuzzle/000/completed/0.json b/N032/go2_arm/dr_on/seed_2024/rec/stationpuzzle/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..8ccdef7d6fe05159c409af74707fd6bc60bede10 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2024/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_2024/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/go2_arm/dr_on/seed_2024/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..8fb6516ba74803efafa5f28311f6bae69be5f377 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2024/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:70a00d0a6858967d36c81d395afef0d7244f3a2aef4745eb8b00deb990dad0c6 +size 6432701 diff --git a/N032/go2_arm/dr_on/seed_2024/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl b/N032/go2_arm/dr_on/seed_2024/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..356a68e8daa8b48e0d66c8ac98b9605caeed7a5a --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2024/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": 1695, "magicsim/control_steps": 3390, "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_on/seed_2024/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/go2_arm/dr_on/seed_2024/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e66041819297b948bd3381f688ebe3b2b42c1c18 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2024/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.16715080721364262, -0.003391812052193117, 0.015318531918979543, 0.33700884380171786, 0.4297105855118912, 0.573579867966583, 0.6324122315135325, 0.06300420324101078, -0.6229108235565258, 0.4552931976023853, 0.1324654566118587, 0.4294985250737463], "std": [0.15468221626345716, 0.021865781902290927, 0.33657964621968656, 0.026786276734372217, 1.2907020852828806, 1.3906955769038258, 0.05238294024815333, 0.10851824242560139, 0.23679759895842709, 0.5558827520701933, 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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]]\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": 1.5625256789256414, + "support": null + }, + "generic_instruction": "Stationpuzzle the 1.5625256789256414.", + "task_id": "N032", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_1263": { + "frame_idx": 1263, + "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_1290": { + "frame_idx": 1290, + "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_1582": { + "frame_idx": 1582, + "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_1596": { + "frame_idx": 1596, + "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_1597": { + "frame_idx": 1597, + "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_1650": { + "frame_idx": 1650, + "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_1693": { + "frame_idx": 1693, + "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_1703": { + "frame_idx": 1703, + "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_1712": { + "frame_idx": 1712, + "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_1772": { + "frame_idx": 1772, + "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_1773": { + "frame_idx": 1773, + "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_1835": { + "frame_idx": 1835, + "caption": "Done — the small tile is grasped; the right gripper is below the tile.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + } + } + }, + "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/go2_arm/dr_on/seed_2024/rec/stationpuzzle/000/lerobot_v21/meta/info.json b/N032/go2_arm/dr_on/seed_2024/rec/stationpuzzle/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5ead1a8a490d9093608bb96f659be1cc83d5498b --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2024/rec/stationpuzzle/000/lerobot_v21/meta/info.json @@ -0,0 +1,350 @@ +{ + "codebase_version": "v2.1", + "robot_type": "Go2PlusCfg", + "total_episodes": 1, + "total_frames": 1695, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { 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"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": 1284.2, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 35.5 + } +} diff --git a/N032/go2_arm/dr_on/seed_2025/check.json b/N032/go2_arm/dr_on/seed_2025/check.json new file mode 100644 index 0000000000000000000000000000000000000000..c79254e805ca55e4f09e5865042ef71af5adc034 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2025/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": "1734 rows vs ceil(3467/2) = 1734" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..3567, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "18.90 MB, 1734 frames at 25 fps, mean luma 59..121, std 42, new picture 1733x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1734 vs 1734" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "36.10 MB, 1734 frames at 25 fps, mean luma 76..158, std 30, new picture 1733x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1734 vs 1734" + }, + "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_2025/check.txt b/N032/go2_arm/dr_on/seed_2025/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..90a5c1ce541d96fa052866fd49f0b2fc3e7d0b66 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2025/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_go2_on_2025/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_go2_on_2025/out/rec/stationpuzzle/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1734 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: 1734 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 1734 at dataset fps 25 = 69.36 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1734 rows vs ceil(3467/2) = 1734 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..3567, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 18.90 MB, 1734 frames at 25 fps, mean luma 59..121, std 42, new picture 1733x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1734 vs 1734 +[PASS] video observation.images.wrist decodes, 640x480, not black: 36.10 MB, 1734 frames at 25 fps, mean luma 76..158, std 30, new picture 1733x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1734 vs 1734 +parquet size 5.87 MB +[PASS] sim_info present: rec/stationpuzzle/000/sim_info +dataset size 61.15 MB; whole cell dir 63.1 MB +RESULT: ALL PASS diff --git a/N032/go2_arm/dr_on/seed_2025/rec/stationpuzzle/000/completed/0.json b/N032/go2_arm/dr_on/seed_2025/rec/stationpuzzle/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..8ccdef7d6fe05159c409af74707fd6bc60bede10 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2025/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_2025/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/go2_arm/dr_on/seed_2025/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..565ef86e0f8f255a56b75d9a0b2c1c03476b3774 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2025/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c03e4a7b486f2bb45648586d23aa7f7c914b444c594135de3726c7efd051039 +size 5869567 diff --git a/N032/go2_arm/dr_on/seed_2025/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl b/N032/go2_arm/dr_on/seed_2025/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8cd5a534f656cbccd644f330f037b9c8c72c25a2 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2025/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": 1734, "magicsim/control_steps": 3467, "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 medium 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 to the right 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 to the left of the gray table B. The scene is viewed from front, at table height."} diff --git a/N032/go2_arm/dr_on/seed_2025/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/go2_arm/dr_on/seed_2025/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..63e006986c8bd4f3a701a766926686a1f22bd282 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2025/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.16927446649251926, -0.001631504625099203, 0.018651822180509505, 0.33702421554438383, 0.2643863773091579, 0.5306460429434133, 0.6331035220327399, 0.058109599512044634, -0.6253305945584106, 0.42625886419919057, 0.13579778863609077, 0.46366782006920415], "std": [0.15091296837625412, 0.02078943795426258, 0.3251555144393035, 0.02631413932132209, 1.2469077331460257, 1.474392720727828, 0.05134891350066258, 0.11602285294770837, 0.21666533643416133, 0.582199141321023, 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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 medium 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 to the right 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 to the left of 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]ble [tile]\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": 1.4884926454514853, + "support": null + }, + "generic_instruction": "Stationpuzzle the 1.4884926454514853.", + "task_id": "N032", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_1254": { + "frame_idx": 1254, + "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_1260": { + "frame_idx": 1260, + "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_1504": { + "frame_idx": 1504, + "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_1518": { + "frame_idx": 1518, + "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_1519": { + "frame_idx": 1519, + "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_1572": { + "frame_idx": 1572, + "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_1604": { + "frame_idx": 1604, + "caption": "Grasping the small tile, moving the arm in to make contact; the right gripper is below and in front of the tile.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_1631": { + "frame_idx": 1631, + "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_1634": { + "frame_idx": 1634, + "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_1694": { + "frame_idx": 1694, + "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_1695": { + "frame_idx": 1695, + "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_1757": { + "frame_idx": 1757, + "caption": "Done — the small tile is grasped; the right gripper is 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"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": 1145.3, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 32.3 + } +} diff --git a/N032/sawyer_umi/dr_off/seed_1026/check.json b/N032/sawyer_umi/dr_off/seed_1026/check.json new file mode 100644 index 0000000000000000000000000000000000000000..91d3889b7161a76362f1a23881e04176afea43c9 --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1026/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": "2645 rows vs ceil(5289/2) = 2645" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5389, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "31.40 MB, 2645 frames at 25 fps, mean luma 97..150, std 27, new picture 2644x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2645 vs 2645" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "49.40 MB, 2645 frames at 25 fps, mean luma 109..178, std 25, new picture 2644x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2645 vs 2645" + }, + "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_1026/check.txt b/N032/sawyer_umi/dr_off/seed_1026/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..e79f506e68617dce52eca3d6c9e1594da16ffa8a --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1026/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_saw_off_1026/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_saw_off_1026/out/rec/stationpuzzlexr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2645 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: 2645 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 2645 at dataset fps 25 = 105.80 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2645 rows vs ceil(5289/2) = 2645 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5389, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 31.40 MB, 2645 frames at 25 fps, mean luma 97..150, std 27, new picture 2644x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2645 vs 2645 +[PASS] video observation.images.wrist decodes, 640x480, not black: 49.40 MB, 2645 frames at 25 fps, mean luma 109..178, std 25, new picture 2644x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2645 vs 2645 +parquet size 3.44 MB +[PASS] sim_info present: rec/stationpuzzlexr/000/sim_info +dataset size 84.43 MB; whole cell dir 86.0 MB +RESULT: ALL PASS diff --git a/N032/sawyer_umi/dr_off/seed_1026/rec/stationpuzzlexr/000/completed/0.json b/N032/sawyer_umi/dr_off/seed_1026/rec/stationpuzzlexr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..0ea26fd1750065ae505310bf089fab096819eb7a --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1026/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_1026/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/sawyer_umi/dr_off/seed_1026/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..d0f0e428cfa624358bb1a9f77de66e1fe833d0cd --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1026/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:499172c5fce29d7faeca33d538c16d2908e998b2cd97e374b414d6d7c6a68f8e +size 3435164 diff --git a/N032/sawyer_umi/dr_off/seed_1026/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes.jsonl b/N032/sawyer_umi/dr_off/seed_1026/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d2fb79187176a16cea246b64572d628340e7702d --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1026/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": 2645, "magicsim/control_steps": 5289, "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 medium 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 to the left of the tile. 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_1026/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/sawyer_umi/dr_off/seed_1026/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..58b4cb14105dfe8e5d916edd19e910728bdd91ef --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1026/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.10463807201946052, -0.00038428294572746824, 0.012018656046860384, 0.44851865101401434, 0.692195951476665, 1.0376740308474954, 0.21829971877298193, 0.02198190988379373, 0.283609502086511, 0.20282502035506506, 0.3784499054820416], "std": [0.1348939877844276, 0.013783169016236997, 0.23174356064756496, 1.2468229499425356, 1.6361843629487591, 0.29153680790248515, 0.5187133079859909, 0.2901646137826171, 0.3943755918374776, 0.5670082599792348, 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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 medium 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 to the left of the tile. 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": 1.6938685816877816, + "support": null + }, + "generic_instruction": "Stationpuzzlexr the 1.6938685816877816.", + "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_1026/rec/stationpuzzlexr/000/lerobot_v21/meta/info.json b/N032/sawyer_umi/dr_off/seed_1026/rec/stationpuzzlexr/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..a69eb1293848acb8c487cc8b8ffc93c867d644b9 --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1026/rec/stationpuzzlexr/000/lerobot_v21/meta/info.json @@ -0,0 +1,331 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 2645, + "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" + ] + }, + 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"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": 1229.8, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 45.1 + } +} diff --git a/N032/sawyer_umi/dr_on/seed_2020/check.json b/N032/sawyer_umi/dr_on/seed_2020/check.json new file mode 100644 index 0000000000000000000000000000000000000000..a82fd70f9eb8b1f05178c0e6dcc86823ef37a7bb --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2020/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": "2752 rows vs ceil(5504/2) = 2752" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5603, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "64.99 MB, 2752 frames at 25 fps, mean luma 87..154, std 43, new picture 2751x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2752 vs 2752" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "67.14 MB, 2752 frames at 25 fps, mean luma 75..161, std 35, new picture 2751x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2752 vs 2752" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationpuzzlexr/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N032/sawyer_umi/dr_on/seed_2020/check.txt b/N032/sawyer_umi/dr_on/seed_2020/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..2f5f3949f9cb5e5747ff4987434f8542efe4abf5 --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2020/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_saw_on_2020_r1/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_saw_on_2020_r1/out/rec/stationpuzzlexr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2752 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: 2752 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 2752 at dataset fps 25 = 110.08 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2752 rows vs ceil(5504/2) = 2752 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5603, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 64.99 MB, 2752 frames at 25 fps, mean luma 87..154, std 43, new picture 2751x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2752 vs 2752 +[PASS] video observation.images.wrist decodes, 640x480, not black: 67.14 MB, 2752 frames at 25 fps, mean luma 75..161, std 35, new picture 2751x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2752 vs 2752 +parquet size 3.80 MB +[PASS] sim_info present: rec/stationpuzzlexr/000/sim_info +dataset size 136.14 MB; whole cell dir 137.9 MB +RESULT: ALL PASS diff --git a/N032/sawyer_umi/dr_on/seed_2020/rec/stationpuzzlexr/000/completed/0.json b/N032/sawyer_umi/dr_on/seed_2020/rec/stationpuzzlexr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..0ea26fd1750065ae505310bf089fab096819eb7a --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2020/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_on/seed_2020/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/sawyer_umi/dr_on/seed_2020/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..527ad7aa5cee3bafb0fee8db2f103e441b2045a2 --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2020/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:824850084a49bf960b0e1ef17b48b489bc28b081d837cc073399b3eaae94a5df +size 3803085 diff --git a/N032/sawyer_umi/dr_on/seed_2020/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes.jsonl b/N032/sawyer_umi/dr_on/seed_2020/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d97408bebfb39a100e7f46c9e2b5def8b9c7d977 --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2020/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": 2752, "magicsim/control_steps": 5504, "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 medium 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/sawyer_umi/dr_on/seed_2020/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/sawyer_umi/dr_on/seed_2020/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3e1acebd83fcaff6fb60639407d052170f677350 --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2020/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.10877712072430958, -0.00039611654701306984, 0.009807772434997301, 0.6827898876481625, 0.6616141314748242, 1.0436826316899686, 0.20352185793156022, 0.05429473744575367, 0.2656076455033292, 0.17288071986593762, 0.38953488372093026], "std": [0.13312390221883955, 0.013025006802386132, 0.2279613187852955, 1.3815984790974034, 1.6579714058847206, 0.2874144758945208, 0.5061568853344844, 0.2937141716930938, 0.4001153293783424, 0.5938354276947756, 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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 medium 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]]\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": 1.4930044101861055, + "support": null + }, + "generic_instruction": "Stationpuzzlexr the 1.4930044101861055.", + "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_on/seed_2020/rec/stationpuzzlexr/000/lerobot_v21/meta/info.json b/N032/sawyer_umi/dr_on/seed_2020/rec/stationpuzzlexr/000/lerobot_v21/meta/info.json new file mode 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"/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": 1443.6, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 48.3 + } +} diff --git a/N032/sawyer_umi/dr_on/seed_2027/check.json b/N032/sawyer_umi/dr_on/seed_2027/check.json new file mode 100644 index 0000000000000000000000000000000000000000..ca364af66d4a8b2b5b22a684856ea09282dc2134 --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2027/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', '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": "2694 rows vs ceil(5388/2) = 2694" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5487, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "55.34 MB, 2694 frames at 25 fps, mean luma 89..143, std 29, new picture 2693x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2694 vs 2694" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "56.26 MB, 2694 frames at 25 fps, mean luma 96..160, std 26, new picture 2693x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2694 vs 2694" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationpuzzlexr/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N032/sawyer_umi/dr_on/seed_2027/check.txt b/N032/sawyer_umi/dr_on/seed_2027/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..002f3f1a37b3000eb3b16de2dfb38294e6628847 --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2027/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_saw_on_2027/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_saw_on_2027/out/rec/stationpuzzlexr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2694 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: 2694 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 2694 at dataset fps 25 = 107.76 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2694 rows vs ceil(5388/2) = 2694 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5487, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 55.34 MB, 2694 frames at 25 fps, mean luma 89..143, std 29, new picture 2693x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2694 vs 2694 +[PASS] video observation.images.wrist decodes, 640x480, not black: 56.26 MB, 2694 frames at 25 fps, mean luma 96..160, std 26, new picture 2693x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2694 vs 2694 +parquet size 3.52 MB +[PASS] sim_info present: rec/stationpuzzlexr/000/sim_info +dataset size 115.32 MB; whole cell dir 117.0 MB +RESULT: ALL PASS diff --git a/N032/sawyer_umi/dr_on/seed_2027/rec/stationpuzzlexr/000/completed/0.json b/N032/sawyer_umi/dr_on/seed_2027/rec/stationpuzzlexr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..0ea26fd1750065ae505310bf089fab096819eb7a --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2027/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_on/seed_2027/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/sawyer_umi/dr_on/seed_2027/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..0fdfbd633786849c0886e9ecf1b1ae35c5a5bff0 --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2027/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6142355fb6e6e26cac5babe7966b57914dbf9d259bc68a1cba084cd8e23c715c +size 3521191 diff --git a/N032/sawyer_umi/dr_on/seed_2027/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes.jsonl b/N032/sawyer_umi/dr_on/seed_2027/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..43e4c48ecb00fcbc65b52e35c343508e705b4d08 --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2027/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": 2694, "magicsim/control_steps": 5388, "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 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/sawyer_umi/dr_on/seed_2027/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/sawyer_umi/dr_on/seed_2027/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..95e457c2771553e027b2c4362bc51257b29df26f --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2027/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.10456692232558837, -0.0011827866311731963, 0.007675194929537288, 0.6953632349691837, 0.6881422130550024, 1.0393580519763645, 0.2175765065414072, 0.00989598643348897, 0.2833988585225192, 0.21467747590947087, 0.38270230141054196], "std": [0.13257732518081627, 0.014267179863950328, 0.23306149718923114, 1.2899607730684408, 1.5941874290277152, 0.29025825834411495, 0.5095010308516801, 0.29658205426081186, 0.39105404725478615, 0.5706886402815754, 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+ "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 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] [tile]\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": 1.5848004833663176, + "support": null + }, + "generic_instruction": "Stationpuzzlexr the 1.5848004833663176.", + "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_on/seed_2027/rec/stationpuzzlexr/000/lerobot_v21/meta/info.json b/N032/sawyer_umi/dr_on/seed_2027/rec/stationpuzzlexr/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..e526b541b9aa84596644793605f59cf1727e98e4 --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2027/rec/stationpuzzlexr/000/lerobot_v21/meta/info.json @@ -0,0 +1,331 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 2694, + "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" + ] + }, + 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11.29, + "planner_seeds": "default" + } + ], + "error": null, + "collect": { + "task": "N032", + "robot": "sawyer_umi", + "visual_dr": true, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N032", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "1" + }, + "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": 1329.8, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 45.2 + } +} diff --git a/N032/sawyer_umi/dr_on/seed_2028/check.json b/N032/sawyer_umi/dr_on/seed_2028/check.json new file mode 100644 index 0000000000000000000000000000000000000000..d82e2b5aa0c1f4eb340e6986aba4811f63da4510 --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2028/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": "2645 rows vs ceil(5290/2) = 2645" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5389, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "81.57 MB, 2645 frames at 25 fps, mean luma 82..134, std 36, new picture 2644x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2645 vs 2645" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "69.83 MB, 2645 frames at 25 fps, mean luma 87..161, std 29, new picture 2644x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2645 vs 2645" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationpuzzlexr/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N032/sawyer_umi/dr_on/seed_2028/check.txt b/N032/sawyer_umi/dr_on/seed_2028/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..ecc8ae014d3748d229309ee458b06f641f6fd52e --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2028/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_saw_on_2028/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_saw_on_2028/out/rec/stationpuzzlexr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2645 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: 2645 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 2645 at dataset fps 25 = 105.80 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2645 rows vs ceil(5290/2) = 2645 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5389, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 81.57 MB, 2645 frames at 25 fps, mean luma 82..134, std 36, new picture 2644x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2645 vs 2645 +[PASS] video observation.images.wrist decodes, 640x480, not black: 69.83 MB, 2645 frames at 25 fps, mean luma 87..161, std 29, new picture 2644x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2645 vs 2645 +parquet size 3.45 MB +[PASS] sim_info present: rec/stationpuzzlexr/000/sim_info +dataset size 155.06 MB; whole cell dir 156.7 MB +RESULT: ALL PASS diff --git a/N032/sawyer_umi/dr_on/seed_2028/rec/stationpuzzlexr/000/completed/0.json b/N032/sawyer_umi/dr_on/seed_2028/rec/stationpuzzlexr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..0ea26fd1750065ae505310bf089fab096819eb7a --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2028/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_on/seed_2028/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/sawyer_umi/dr_on/seed_2028/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..b6923c7c1e9fceae13c366b5d8dc89b3f7b1eae3 --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2028/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:ce5f77958d8c7f8897c2ccea4dc9ce1b4ce1518ae7f1e8cab0dfaf9a74fe8cc7 +size 3453081 diff --git a/N032/sawyer_umi/dr_on/seed_2028/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes.jsonl b/N032/sawyer_umi/dr_on/seed_2028/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3289f06ac136922c5d5971f83eade73944993dd0 --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2028/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": 2645, "magicsim/control_steps": 5290, "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 to the left of the tile. 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 to the left of the gray table B. The scene is viewed from front, at table height."} diff --git a/N032/sawyer_umi/dr_on/seed_2028/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/sawyer_umi/dr_on/seed_2028/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..57e411ddf7681ac8a4f9e1e47d6f938bc9cf53eb --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2028/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.10254828274137356, -0.0007558590128651639, 0.006442406228285754, 0.6778329736343629, 0.7588027977718248, 1.0374554360295964, 0.22858035460762355, 0.013275094291738619, 0.293385384921231, 0.21634393894863588, 0.3795841209829868], "std": [0.13222114366636, 0.010569714987328185, 0.23305074112783938, 1.3212110083828392, 1.4886603416602573, 0.2915263338199922, 0.5052730299487636, 0.2869908327955498, 0.3921291363363638, 0.5685640310097282, 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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 to the left of the tile. 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 to the left of 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": 1.5731431299872103, + "support": null + }, + "generic_instruction": "Stationpuzzlexr the 1.5731431299872103.", + "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_on/seed_2028/rec/stationpuzzlexr/000/lerobot_v21/meta/info.json b/N032/sawyer_umi/dr_on/seed_2028/rec/stationpuzzlexr/000/lerobot_v21/meta/info.json new file mode 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"yaw_err_deg": 0.0, + "tilt_deg": 0.0, + "z_err": 0.0, + "overlap": false, + "at_rest": true, + "in_notch": true + }, + "released": true, + "intruders": [], + "manipulation_success": true + }, + "route": [ + "A", + "B", + "A" + ], + "total_path_m": 10.84, + "planner_seeds": "default" + } + ], + "error": null, + "collect": { + "task": "N032", + "robot": "sawyer_umi", + "visual_dr": true, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N032", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "1" + }, + "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": 1316.3, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 43.2 + } +} diff --git a/N032/stretch3/dr_on/seed_2031/check.json b/N032/stretch3/dr_on/seed_2031/check.json new file mode 100644 index 0000000000000000000000000000000000000000..8bf221a9a30b911e3bc4cbb8369ef3c35ff3479e --- /dev/null +++ b/N032/stretch3/dr_on/seed_2031/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": "2673 rows vs ceil(5345/2) = 2673" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5445, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "60.88 MB, 2673 frames at 25 fps, mean luma 119..148, std 27, new picture 2672x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2673 vs 2673" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "62.49 MB, 2673 frames at 25 fps, mean luma 70..147, std 34, new picture 2672x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2673 vs 2673" + }, + "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_2031/check.txt b/N032/stretch3/dr_on/seed_2031/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..a6537def72199a229c52041cbdbda5580ee5ec00 --- /dev/null +++ b/N032/stretch3/dr_on/seed_2031/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_str_on_2031/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_str_on_2031/out/rec/stationpuzzlestretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2673 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: 2673 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 2673 at dataset fps 25 = 106.92 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2673 rows vs ceil(5345/2) = 2673 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5445, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 60.88 MB, 2673 frames at 25 fps, mean luma 119..148, std 27, new picture 2672x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2673 vs 2673 +[PASS] video observation.images.wrist decodes, 640x480, not black: 62.49 MB, 2673 frames at 25 fps, mean luma 70..147, std 34, new picture 2672x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2673 vs 2673 +parquet size 4.07 MB +[PASS] sim_info present: rec/stationpuzzlestretch/000/sim_info +dataset size 127.65 MB; whole cell dir 129.5 MB +RESULT: ALL PASS diff --git a/N032/stretch3/dr_on/seed_2031/rec/stationpuzzlestretch/000/completed/0.json b/N032/stretch3/dr_on/seed_2031/rec/stationpuzzlestretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..2b614a937da99960d58d2a321fefcbc4aa6cfa5e --- /dev/null +++ b/N032/stretch3/dr_on/seed_2031/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_2031/rec/stationpuzzlestretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/stretch3/dr_on/seed_2031/rec/stationpuzzlestretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..779f349f3ba97c2c6d2119f11c388051e6b0968e --- /dev/null +++ b/N032/stretch3/dr_on/seed_2031/rec/stationpuzzlestretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a13cd78b429985047514c1bfb82be5a391f8ed6a231752d1a50c0f8d1425dfe +size 4072874 diff --git a/N032/stretch3/dr_on/seed_2031/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes.jsonl b/N032/stretch3/dr_on/seed_2031/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..08a4e8188ef8b5204911f146726306eda1b6a632 --- /dev/null +++ b/N032/stretch3/dr_on/seed_2031/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": 2673, "magicsim/control_steps": 5345, "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 medium 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 to the right 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 to the left of the gray table B. The scene is viewed from front, slightly above table height."} diff --git a/N032/stretch3/dr_on/seed_2031/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/stretch3/dr_on/seed_2031/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..58effb87ad02a3d6323e99c3fce0d19b6863344d --- /dev/null +++ b/N032/stretch3/dr_on/seed_2031/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.03070497440311499, 0.0, 0.021814014841643886, 0.20490834296162191, 0.31139321416181615, 0.7127144540734296, -0.2909463231840383, -0.012471050697962553, -0.06558230620468354, 0.055157367138661026, 0.4384586606808829], "std": [0.17839875752232057, 0.0, 0.20700963537989747, 1.2939872845264737, 1.454895302035613, 0.15365211432440032, 0.48076642019755816, 0.3441765774649995, 0.3709263219890699, 0.6485915113818543, 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+ "object": "table_B_1" + } + ], + "cameras": [ + { + "name": "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_robot": [ + 4.204389569418198, + -0.32177232412082774, + 1.2357226169930717 + ], + "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": [ + 4.21345886717584, + -0.24482867616538861, + -0.0036023454391975423 + ], + "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": [ + -3.4, + -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 medium 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 to the right 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 to the left of 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] [tile]\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": 3.0170046509503177, + "support": null + }, + "generic_instruction": "Stationpuzzlestretch the 3.0170046509503177.", + "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_2031/rec/stationpuzzlestretch/000/lerobot_v21/meta/info.json b/N032/stretch3/dr_on/seed_2031/rec/stationpuzzlestretch/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..c93707434eb16f7a96c0dd399e8f7e737ec91fbc --- /dev/null +++ b/N032/stretch3/dr_on/seed_2031/rec/stationpuzzlestretch/000/lerobot_v21/meta/info.json @@ -0,0 +1,333 @@ +{ + "codebase_version": "v2.1", + "robot_type": "HelloRobotCfg", + "total_episodes": 1, + "total_frames": 2673, + "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": [ + 84 + ], + "names": [ + "object_pose.board_0.0", + "object_pose.board_0.1", + "object_pose.board_0.2", + "object_pose.board_0.3", + "object_pose.board_0.4", + "object_pose.board_0.5", + "object_pose.board_0.6", + "object_pose.board_1.0", + "object_pose.board_1.1", + "object_pose.board_1.2", + "object_pose.board_1.3", + "object_pose.board_1.4", + "object_pose.board_1.5", + "object_pose.board_1.6", + "object_pose.board_2.0", + "object_pose.board_2.1", + "object_pose.board_2.2", + "object_pose.board_2.3", + "object_pose.board_2.4", + "object_pose.board_2.5", + "object_pose.board_2.6", + "object_pose.board_3.0", + "object_pose.board_3.1", + "object_pose.board_3.2", + "object_pose.board_3.3", + "object_pose.board_3.4", + 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"object_pose.picture_cap.5", + "object_pose.picture_cap.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", + "object_pose.tile.0", + "object_pose.tile.1", + "object_pose.tile.2", + "object_pose.tile.3", + "object_pose.tile.4", + "object_pose.tile.5", + "object_pose.tile.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 832 + ], + "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/N032/stretch3/dr_on/seed_2031/rec/stationpuzzlestretch/000/lerobot_v21/meta/magicsim_manifest.json b/N032/stretch3/dr_on/seed_2031/rec/stationpuzzlestretch/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..7b5e102b85baed607ecea864c94fd53d8dd13996 --- /dev/null +++ b/N032/stretch3/dr_on/seed_2031/rec/stationpuzzlestretch/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 04:22:47" + }, + "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", + 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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": 1375.1, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 47.2 + } +} diff --git a/N033/go2_arm/dr_on/seed_2022/check.json b/N033/go2_arm/dr_on/seed_2022/check.json new file mode 100644 index 0000000000000000000000000000000000000000..55cc59614f065c145bf6a444008a7c03ca9795f0 --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2022/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": "1414 rows vs ceil(2828/2) = 1414" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..2927, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "26.76 MB, 1414 frames at 25 fps, mean luma 44..94, std 46, new picture 1413x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1414 vs 1414" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "26.86 MB, 1414 frames at 25 fps, mean luma 104..163, std 32, new picture 1413x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1414 vs 1414" + }, + "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_2022/check.txt b/N033/go2_arm/dr_on/seed_2022/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..b188aeed5c364add2e74bfa480d7a7749f3116e8 --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2022/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_go2_on_2022_r1/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_go2_on_2022_r1/out/rec/stationring/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1414 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: 1414 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 1414 at dataset fps 25 = 56.56 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1414 rows vs ceil(2828/2) = 1414 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..2927, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 26.76 MB, 1414 frames at 25 fps, mean luma 44..94, std 46, new picture 1413x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1414 vs 1414 +[PASS] video observation.images.wrist decodes, 640x480, not black: 26.86 MB, 1414 frames at 25 fps, mean luma 104..163, std 32, new picture 1413x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1414 vs 1414 +parquet size 4.67 MB +[PASS] sim_info present: rec/stationring/000/sim_info +dataset size 58.56 MB; whole cell dir 60.0 MB +RESULT: ALL PASS diff --git a/N033/go2_arm/dr_on/seed_2022/rec/stationring/000/completed/0.json b/N033/go2_arm/dr_on/seed_2022/rec/stationring/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..c24e4e92ce410caf19b3ef731d95205d50917856 --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2022/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_2022/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/go2_arm/dr_on/seed_2022/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..bd8a4f56e02af537a0a63bf68efe8096e3ebd3a7 --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2022/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:eac5f836f67b4ebd002c635c2210ec0610fd2edb1c0a3d8748e4bec7016d4ec5 +size 4667099 diff --git a/N033/go2_arm/dr_on/seed_2022/rec/stationring/000/lerobot_v21/meta/episodes.jsonl b/N033/go2_arm/dr_on/seed_2022/rec/stationring/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f2b742c39d432748ec9393dfbb5809bdd88da7dc --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2022/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": 1414, "magicsim/control_steps": 2828, "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 behind 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 behind the brown rod stop. The brown rod stop is in front of the white rod s. The scene is viewed from front-right, at table height."} diff --git a/N033/go2_arm/dr_on/seed_2022/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/go2_arm/dr_on/seed_2022/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c4e87ed2711c8e5e9632298a6f9b31c10ade704a --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2022/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.13846473464982048, 0.0006889440817429118, 0.021836336649252205, 0.3558323975373191, 0.5115603944958521, 0.844549583605737, 0.7005299497527483, 0.0987646139794605, -0.5660802372527088, 0.7769143682136562, 0.07304325683471843, 0.45544554455445546], "std": [0.16292182226671753, 0.025125902447250627, 0.2584281347226215, 0.018723680680926693, 1.4053803131179823, 1.7208228261070666, 0.04696758477528868, 0.014783102359562322, 0.20979509298339197, 0.12586935962973742, 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}, + "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 behind 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 behind the brown rod stop. The brown rod stop is in front of the white rod s. The scene is viewed from front-right, 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": 1.6360234804913945, + "support": null + }, + "generic_instruction": "Stationring the 1.6360234804913945.", + "task_id": "N033", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0574": { + "frame_idx": 574, + "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_0600": { + "frame_idx": 600, + "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_0746": { + "frame_idx": 746, + "caption": "Working on the small ring; the right gripper is below 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", + "in_front_of" + ] + }, + "frame_0749": { + "frame_idx": 749, + "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_0879": { + "frame_idx": 879, + "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_0893": { + "frame_idx": 893, + "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": [ + 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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": 1118.6, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 27.3 + } +} diff --git a/N033/sawyer_umi/dr_off/seed_1026/check.json b/N033/sawyer_umi/dr_off/seed_1026/check.json new file mode 100644 index 0000000000000000000000000000000000000000..4b503513941b8c89bc803dbf14f571ac7d48aedb --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1026/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": "2150 rows vs ceil(4300/2) = 2150" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4399, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "25.96 MB, 2150 frames at 25 fps, mean luma 99..149, std 27, new picture 2149x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2150 vs 2150" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "38.53 MB, 2150 frames at 25 fps, mean luma 105..149, std 22, new picture 2149x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2150 vs 2150" + }, + "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_1026/check.txt b/N033/sawyer_umi/dr_off/seed_1026/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..03c5688a18a0ff081d6112c7cb0a0b2291e34d0d --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1026/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_saw_off_1026/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_saw_off_1026/out/rec/stationringxr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2150 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: 2150 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 2150 at dataset fps 25 = 86.00 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2150 rows vs ceil(4300/2) = 2150 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4399, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 25.96 MB, 2150 frames at 25 fps, mean luma 99..149, std 27, new picture 2149x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2150 vs 2150 +[PASS] video observation.images.wrist decodes, 640x480, not black: 38.53 MB, 2150 frames at 25 fps, mean luma 105..149, std 22, new picture 2149x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2150 vs 2150 +parquet size 2.51 MB +[PASS] sim_info present: rec/stationringxr/000/sim_info +dataset size 67.19 MB; whole cell dir 68.5 MB +RESULT: ALL PASS diff --git a/N033/sawyer_umi/dr_off/seed_1026/rec/stationringxr/000/completed/0.json b/N033/sawyer_umi/dr_off/seed_1026/rec/stationringxr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..91a50a443cc1602752f4a6179432b21f7f41bb42 --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1026/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_1026/rec/stationringxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/sawyer_umi/dr_off/seed_1026/rec/stationringxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..c7d969a8aa59e519cac9e3bbc119e0a50fa5d2b0 --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1026/rec/stationringxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33dfa1e2f863f3c9f481aef7a7d6960c4eaab5786166a7ac9873f4f0e20f0c5b +size 2508681 diff --git a/N033/sawyer_umi/dr_off/seed_1026/rec/stationringxr/000/lerobot_v21/meta/episodes.jsonl b/N033/sawyer_umi/dr_off/seed_1026/rec/stationringxr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9b7a31867af9e39079fcfa170601d1616247c490 --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1026/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": 2150, "magicsim/control_steps": 4300, "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 1 is on top of the ring. The gray peg 2 is to the left of the ring small. The ring small is to the right 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/sawyer_umi/dr_off/seed_1026/rec/stationringxr/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/sawyer_umi/dr_off/seed_1026/rec/stationringxr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..88fc7bbff5f37a5e70a1b47a6d18fc49281ac845 --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1026/rec/stationringxr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.08343730691820384, -4.975126969606377e-05, 0.010464522266803786, 0.383378668406675, 0.7301269803906596, 1.048475488368855, -0.2381118953158689, -0.0634058873253762, -0.2588333963897339, 0.16761259237564233, 0.4525581395348837], "std": [0.11767008855885522, 0.008468672259156818, 0.15164978255285116, 1.2061969326714297, 1.631901347801389, 0.2057106758468132, 0.6211861853709371, 0.10972718811948422, 0.5379043074146966, 0.39615675154647634, 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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 to the left of the gray peg 1. The gray peg 1 is on top of the ring. The gray peg 2 is to the left of the ring small. The ring small is to the right 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": "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": 1.6938685816877816, + "support": null + }, + "generic_instruction": "Stationringxr the 1.6938685816877816.", + "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_1026/rec/stationringxr/000/lerobot_v21/meta/info.json 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"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": 1090.0, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 33.7 + } +} diff --git a/N033/sawyer_umi/dr_on/seed_2027/check.json b/N033/sawyer_umi/dr_on/seed_2027/check.json new file mode 100644 index 0000000000000000000000000000000000000000..fed9c6e7e37737ffbeece5b34b8dc063347f16bf --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2027/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', '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": "2157 rows vs ceil(4313/2) = 2157" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4413, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "44.65 MB, 2157 frames at 25 fps, mean luma 90..143, std 30, new picture 2156x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2157 vs 2157" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "42.25 MB, 2157 frames at 25 fps, mean luma 96..135, std 25, new picture 2156x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2157 vs 2157" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationringxr/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N033/sawyer_umi/dr_on/seed_2027/check.txt b/N033/sawyer_umi/dr_on/seed_2027/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..9e72f9a5675fbf153f8479afb2cbb5ca450e5bb0 --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2027/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_saw_on_2027_r1/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_saw_on_2027_r1/out/rec/stationringxr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2157 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: 2157 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 2157 at dataset fps 25 = 86.28 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2157 rows vs ceil(4313/2) = 2157 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4413, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 44.65 MB, 2157 frames at 25 fps, mean luma 90..143, std 30, new picture 2156x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2157 vs 2157 +[PASS] video observation.images.wrist decodes, 640x480, not black: 42.25 MB, 2157 frames at 25 fps, mean luma 96..135, std 25, new picture 2156x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2157 vs 2157 +parquet size 2.55 MB +[PASS] sim_info present: rec/stationringxr/000/sim_info +dataset size 89.65 MB; whole cell dir 90.9 MB +RESULT: ALL PASS diff --git a/N033/sawyer_umi/dr_on/seed_2027/rec/stationringxr/000/completed/0.json b/N033/sawyer_umi/dr_on/seed_2027/rec/stationringxr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..91a50a443cc1602752f4a6179432b21f7f41bb42 --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2027/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_on/seed_2027/rec/stationringxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/sawyer_umi/dr_on/seed_2027/rec/stationringxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..a190db74be30bc527945c5ca0524abf4a6ae0b79 --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2027/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:aea530595fd4656b17f172780aadb68acb7836a05d9c8ee603e17bd9d9ac21d2 +size 2553733 diff --git a/N033/sawyer_umi/dr_on/seed_2027/rec/stationringxr/000/lerobot_v21/meta/episodes.jsonl b/N033/sawyer_umi/dr_on/seed_2027/rec/stationringxr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c3c80aea38f97dad29053ff44a1c131fe1547845 --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2027/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": 2157, "magicsim/control_steps": 4313, "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 behind the brown rod stop. The brown rack back is in front of the gray peg 2. The gray peg 1 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 behind the brown rod stop. The brown rod stop is in front of the white rod s. The scene is viewed from front, at table height."} diff --git a/N033/sawyer_umi/dr_on/seed_2027/rec/stationringxr/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/sawyer_umi/dr_on/seed_2027/rec/stationringxr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4bd5df43a2fa38c614b2eb59b20281d8b29af4e1 --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2027/rec/stationringxr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.0857947514594071, -0.0009048335482165611, 0.007154955043531712, 0.6080732822286956, 0.7270312931079471, 1.0518061558460825, -0.2339233200086948, -0.06311229032022411, -0.25383968681000313, 0.17101141305198056, 0.4432081594807603], "std": [0.11999703593491233, 0.011878706066898883, 0.15406511920100255, 1.244642507880733, 1.6039455346758749, 0.20734136787153382, 0.6189749386788702, 0.11086029776144539, 0.5346633117691001, 0.40783854768150607, 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"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 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 behind the brown rod stop. The brown rack back is in front of the gray peg 2. The gray peg 1 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 behind the brown rod stop. The brown rod stop is in front 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": 1.5848004833663176, + "support": null + }, + "generic_instruction": "Stationringxr the 1.5848004833663176.", + "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_on/seed_2027/rec/stationringxr/000/lerobot_v21/meta/info.json 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"total_path_m": 7.41, + "planner_seeds": "default" + } + ], + "error": null, + "collect": { + "task": "N033", + "robot": "sawyer_umi", + "visual_dr": true, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N033", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "1" + }, + "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": 1104.9, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 35.4 + } +} diff --git a/N033/sawyer_umi/dr_on/seed_2028/check.json b/N033/sawyer_umi/dr_on/seed_2028/check.json new file mode 100644 index 0000000000000000000000000000000000000000..0467043aa457e121cf687c6798eb30723b7ada1d --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2028/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": "2128 rows vs ceil(4255/2) = 2128" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4355, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "65.95 MB, 2128 frames at 25 fps, mean luma 83..133, std 36, new picture 2127x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2128 vs 2128" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "59.00 MB, 2128 frames at 25 fps, mean luma 87..141, std 29, new picture 2127x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2128 vs 2128" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationringxr/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N033/sawyer_umi/dr_on/seed_2028/check.txt b/N033/sawyer_umi/dr_on/seed_2028/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..b90cadea62c51346a5fef7cf6d6c237b620aea65 --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2028/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_saw_on_2028/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_saw_on_2028/out/rec/stationringxr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2128 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: 2128 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 2128 at dataset fps 25 = 85.12 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2128 rows vs ceil(4255/2) = 2128 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4355, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 65.95 MB, 2128 frames at 25 fps, mean luma 83..133, std 36, new picture 2127x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2128 vs 2128 +[PASS] video observation.images.wrist decodes, 640x480, not black: 59.00 MB, 2128 frames at 25 fps, mean luma 87..141, std 29, new picture 2127x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2128 vs 2128 +parquet size 2.54 MB +[PASS] sim_info present: rec/stationringxr/000/sim_info +dataset size 127.68 MB; whole cell dir 129.0 MB +RESULT: ALL PASS diff --git a/N033/sawyer_umi/dr_on/seed_2028/rec/stationringxr/000/completed/0.json b/N033/sawyer_umi/dr_on/seed_2028/rec/stationringxr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..91a50a443cc1602752f4a6179432b21f7f41bb42 --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2028/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_on/seed_2028/rec/stationringxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/sawyer_umi/dr_on/seed_2028/rec/stationringxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..b957b686dcc7c5c64589da3632dab04af53ec376 --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2028/rec/stationringxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:54bd747089decedac6482c400a1ba5c52c2ff47d228d2e120b1f208f1e07d818 +size 2539069 diff --git a/N033/sawyer_umi/dr_on/seed_2028/rec/stationringxr/000/lerobot_v21/meta/episodes.jsonl b/N033/sawyer_umi/dr_on/seed_2028/rec/stationringxr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eafc9e867d36b478046fe7a5c2b65890dc00a12a --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2028/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": 2128, "magicsim/control_steps": 4255, "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 behind the brown rod stop. The brown rack back is to the right of the gray peg 2. The gray peg 1 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 behind the brown rod stop. The brown rod stop is in front of the white rod s. The scene is viewed from front, at table height."} diff --git a/N033/sawyer_umi/dr_on/seed_2028/rec/stationringxr/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/sawyer_umi/dr_on/seed_2028/rec/stationringxr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9d2e4ee871dd46a0f59fa63201cb4a345befecbf --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2028/rec/stationringxr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.08491145394465893, -0.0021295750174930503, 0.004429002843320823, 0.5841770181012221, 0.8249075799297254, 1.0527089433114332, -0.234698446684594, -0.071075774527228, -0.24771611011916198, 0.1808306062412841, 0.43656015037593987], "std": [0.1202994122004525, 0.012358918226052326, 0.16629994606313442, 1.2734933303262324, 1.514901329276734, 0.20892483086816516, 0.6142428877757129, 0.10967425007638597, 0.536325710488645, 0.41089380425798594, 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"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 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 behind the brown rod stop. The brown rack back is to the right of the gray peg 2. The gray peg 1 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 behind the brown rod stop. The brown rod stop is in front 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": 1.5731431299872103, + "support": null + }, + "generic_instruction": "Stationringxr the 1.5731431299872103.", + "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_on/seed_2028/rec/stationringxr/000/lerobot_v21/meta/info.json 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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": 1018.1, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 36.9 + } +} diff --git a/N033/stretch3/dr_off/seed_1032/check.json b/N033/stretch3/dr_off/seed_1032/check.json new file mode 100644 index 0000000000000000000000000000000000000000..033645da86700f2e58da2d7e9e31286a43be4fc9 --- /dev/null +++ b/N033/stretch3/dr_off/seed_1032/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": "2135 rows vs ceil(4270/2) = 2135" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4369, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "21.20 MB, 2135 frames at 25 fps, mean luma 116..156, std 13, new picture 2134x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2135 vs 2135" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "43.29 MB, 2135 frames at 25 fps, mean luma 116..158, std 28, new picture 2134x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2135 vs 2135" + }, + "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_1032/check.txt b/N033/stretch3/dr_off/seed_1032/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..f19a9a6e4cc6f404bb4a7da58b5ea79f3ef03ac6 --- /dev/null +++ b/N033/stretch3/dr_off/seed_1032/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_str_off_1032/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_str_off_1032/out/rec/stationringstretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2135 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: 2135 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 2135 at dataset fps 25 = 85.40 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2135 rows vs ceil(4270/2) = 2135 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4369, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 21.20 MB, 2135 frames at 25 fps, mean luma 116..156, std 13, new picture 2134x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2135 vs 2135 +[PASS] video observation.images.wrist decodes, 640x480, not black: 43.29 MB, 2135 frames at 25 fps, mean luma 116..158, std 28, new picture 2134x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2135 vs 2135 +parquet size 3.11 MB +[PASS] sim_info present: rec/stationringstretch/000/sim_info +dataset size 67.82 MB; whole cell dir 69.3 MB +RESULT: ALL PASS diff --git a/N033/stretch3/dr_off/seed_1032/rec/stationringstretch/000/completed/0.json b/N033/stretch3/dr_off/seed_1032/rec/stationringstretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..fd3e4ff594cda366fc3a512d000e9a5e190a83f8 --- /dev/null +++ b/N033/stretch3/dr_off/seed_1032/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_1032/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/stretch3/dr_off/seed_1032/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..4ebe4db91ce076f1333d6b49f896b7ce4387b6ef --- /dev/null +++ b/N033/stretch3/dr_off/seed_1032/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:481209cfbab0ae19c22cd7add67582d95f7d22d93db4709819cde31122fe71b7 +size 3114927 diff --git a/N033/stretch3/dr_off/seed_1032/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl b/N033/stretch3/dr_off/seed_1032/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a05862ace2a8d7fd9b56e27062f7b4ea421c258b --- /dev/null +++ b/N033/stretch3/dr_off/seed_1032/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": 2135, "magicsim/control_steps": 4270, "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_off/seed_1032/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/stretch3/dr_off/seed_1032/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9f490c878d58a82032a38a389b002fbb1d47d07b --- /dev/null +++ b/N033/stretch3/dr_off/seed_1032/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [-0.003196584612602233, 0.0, 0.027853684561802577, 0.45629088134620455, 0.7746497620638696, 0.7398269783138391, -0.324494572248107, -0.03185881156686716, -0.09476319054365552, -0.0020203789621940542, 0.4159250585480094], "std": [0.15649851919224197, 0.0, 0.20137247936707328, 1.2139544897062864, 1.6587304734337702, 0.09900945603051861, 0.5544251493606206, 0.34246085794475356, 0.4399184040187192, 0.5162452202087695, 0.4928807200731617], 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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 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.", + "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": 3.2449173971165406, + "support": null + }, + "generic_instruction": "Stationringstretch the 3.2449173971165406.", + "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_1032/rec/stationringstretch/000/lerobot_v21/meta/info.json b/N033/stretch3/dr_off/seed_1032/rec/stationringstretch/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f9febdc09143db7d25493a018e48fa800ed8a913 --- /dev/null +++ b/N033/stretch3/dr_off/seed_1032/rec/stationringstretch/000/lerobot_v21/meta/info.json @@ -0,0 +1,319 @@ +{ + "codebase_version": "v2.1", + "robot_type": "HelloRobotCfg", + "total_episodes": 1, + "total_frames": 2135, + "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": [ + 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", + "object_pose.ring_small.4", + "object_pose.ring_small.5", + "object_pose.ring_small.6", + "object_pose.rod_h.0", + "object_pose.rod_h.1", + "object_pose.rod_h.2", + "object_pose.rod_h.3", + "object_pose.rod_h.4", + "object_pose.rod_h.5", + "object_pose.rod_h.6", + "object_pose.rod_s.0", + "object_pose.rod_s.1", + "object_pose.rod_s.2", + "object_pose.rod_s.3", + "object_pose.rod_s.4", + "object_pose.rod_s.5", + "object_pose.rod_s.6", + "object_pose.rod_stop.0", + "object_pose.rod_stop.1", + "object_pose.rod_stop.2", + "object_pose.rod_stop.3", + "object_pose.rod_stop.4", + "object_pose.rod_stop.5", + "object_pose.rod_stop.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": [ + 848 + ], + "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 + }, + 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"video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N033/stretch3/dr_off/seed_1032/rec/stationringstretch/000/lerobot_v21/meta/magicsim_manifest.json b/N033/stretch3/dr_off/seed_1032/rec/stationringstretch/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..2deb6f0cfc9c36c95f2e51c2e157780aea31ae1b --- /dev/null +++ b/N033/stretch3/dr_off/seed_1032/rec/stationringstretch/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 04:34:02" + }, + "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": 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+oid sha256:3f69341380464ef48a53d763361f44392f09ca78f32904a01ce1d275be96fb14 +size 651197 diff --git a/N033/stretch3/dr_off/seed_1032/rec/stationringstretch/000/sim_info/magicsim_manifest.json b/N033/stretch3/dr_off/seed_1032/rec/stationringstretch/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..a8c6d180c66cff2fe46e3900c66df35294dcf2d1 --- /dev/null +++ b/N033/stretch3/dr_off/seed_1032/rec/stationringstretch/000/sim_info/magicsim_manifest.json @@ -0,0 +1,228 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 04:34:30" + }, + "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": 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"decoy": { + "ring_small": { + "lift": 0.0, + "max_lift_near_wrist": 0.0, + "dist_wrist": 3.361 + } + }, + "rod_length": 0.28, + "released": true, + "other_rings_on_rod": [], + "manipulation_success": true + }, + "route": [ + "A", + "B" + ], + "total_path_m": 7.36, + "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": 1158.0, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 33.3 + } +} diff --git a/N033/stretch3/dr_on/seed_2030/check.json b/N033/stretch3/dr_on/seed_2030/check.json new file mode 100644 index 0000000000000000000000000000000000000000..1e201c2a4b9bec332bee68f54f829141dd891cf4 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2030/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": "2158 rows vs ceil(4315/2) = 2158" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4415, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "31.45 MB, 2158 frames at 25 fps, mean luma 25..68, std 22, new picture 2157x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2158 vs 2158" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "46.37 MB, 2158 frames at 25 fps, mean luma 39..116, std 44, new picture 2157x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2158 vs 2158" + }, + "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_2030/check.txt b/N033/stretch3/dr_on/seed_2030/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..66337059042996c607c51fe6a7419b0a70cfecc7 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2030/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_str_on_2030/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_str_on_2030/out/rec/stationringstretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2158 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: 2158 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 2158 at dataset fps 25 = 86.32 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2158 rows vs ceil(4315/2) = 2158 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4415, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 31.45 MB, 2158 frames at 25 fps, mean luma 25..68, std 22, new picture 2157x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2158 vs 2158 +[PASS] video observation.images.wrist decodes, 640x480, not black: 46.37 MB, 2158 frames at 25 fps, mean luma 39..116, std 44, new picture 2157x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2158 vs 2158 +parquet size 3.18 MB +[PASS] sim_info present: rec/stationringstretch/000/sim_info +dataset size 81.22 MB; whole cell dir 82.7 MB +RESULT: ALL PASS diff --git a/N033/stretch3/dr_on/seed_2030/rec/stationringstretch/000/completed/0.json b/N033/stretch3/dr_on/seed_2030/rec/stationringstretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..fd3e4ff594cda366fc3a512d000e9a5e190a83f8 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2030/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_2030/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/stretch3/dr_on/seed_2030/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..b0f63e69a47057f0536fdc0b4bdd3f34fec60a44 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2030/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:035763de39f6da9d0ed21184a8762f8b56bbde56d4e008b1957a388184fb9a37 +size 3179398 diff --git a/N033/stretch3/dr_on/seed_2030/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl b/N033/stretch3/dr_on/seed_2030/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..180b92f5022d947198ed3eae6fce94a98b772d58 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2030/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": 2158, "magicsim/control_steps": 4315, "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 behind 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 behind the brown rod stop. The brown rod stop is in front of the white rod s. The scene is viewed from front, slightly above table height."} diff --git a/N033/stretch3/dr_on/seed_2030/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/stretch3/dr_on/seed_2030/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..39a4adc835798dbeab7bc0f7d684a05d110feba5 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2030/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [-0.008172455111706665, 0.0, 0.02613193919580944, 0.4719619640063726, 0.8127339555742953, 0.7425895779358225, -0.30747774024377467, -0.02340415914167648, -0.09348749082306179, -0.008829368124746193, 0.42910101946246526], "std": [0.1578078422135828, 0.0, 0.19560593646151866, 1.2447595473214823, 1.7599739710127695, 0.09964868396926725, 0.5433281110940974, 0.3596370515512745, 0.43488844865965737, 0.5314315807146529, 0.49494780993427184], 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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 behind 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 behind the brown rod stop. The brown rod stop is in front 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": 3.1212309330442713, + "support": null + }, + "generic_instruction": "Stationringstretch the 3.1212309330442713.", + "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_2030/rec/stationringstretch/000/lerobot_v21/meta/info.json b/N033/stretch3/dr_on/seed_2030/rec/stationringstretch/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..91c8ee6fdf3860c47d55d201bd6f393586d7c50c --- /dev/null +++ b/N033/stretch3/dr_on/seed_2030/rec/stationringstretch/000/lerobot_v21/meta/info.json @@ -0,0 +1,319 @@ +{ + "codebase_version": "v2.1", + "robot_type": "HelloRobotCfg", + "total_episodes": 1, + "total_frames": 2158, + "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": [ + 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_on/seed_2030/rec/stationringstretch/000/lerobot_v21/meta/magicsim_manifest.json b/N033/stretch3/dr_on/seed_2030/rec/stationringstretch/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..2b8a1a331ac22f12667703ae2c9e0a3b7a1f74e3 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2030/rec/stationringstretch/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 04:22:28" + }, + "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", 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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": 1236.6, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 37.2 + } +} diff --git a/N033/stretch3/dr_on/seed_2033/check.json b/N033/stretch3/dr_on/seed_2033/check.json new file mode 100644 index 0000000000000000000000000000000000000000..de5eb4ac77dc4c67eabbadb8981b1cf99a50349e --- /dev/null +++ b/N033/stretch3/dr_on/seed_2033/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": "2153 rows vs ceil(4305/2) = 2153" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4405, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "45.22 MB, 2153 frames at 25 fps, mean luma 21..51, std 21, new picture 2152x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2153 vs 2153" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "42.60 MB, 2153 frames at 25 fps, mean luma 30..110, std 49, new picture 2152x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2153 vs 2153" + }, + "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_2033/check.txt b/N033/stretch3/dr_on/seed_2033/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..85e7c3985fb05c96f8073061cfdacde871c14e2b --- /dev/null +++ b/N033/stretch3/dr_on/seed_2033/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_str_on_2033/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_str_on_2033/out/rec/stationringstretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2153 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: 2153 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 2153 at dataset fps 25 = 86.12 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2153 rows vs ceil(4305/2) = 2153 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4405, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 45.22 MB, 2153 frames at 25 fps, mean luma 21..51, std 21, new picture 2152x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2153 vs 2153 +[PASS] video observation.images.wrist decodes, 640x480, not black: 42.60 MB, 2153 frames at 25 fps, mean luma 30..110, std 49, new picture 2152x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2153 vs 2153 +parquet size 3.18 MB +[PASS] sim_info present: rec/stationringstretch/000/sim_info +dataset size 91.21 MB; whole cell dir 92.7 MB +RESULT: ALL PASS diff --git a/N033/stretch3/dr_on/seed_2033/rec/stationringstretch/000/completed/0.json b/N033/stretch3/dr_on/seed_2033/rec/stationringstretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..fd3e4ff594cda366fc3a512d000e9a5e190a83f8 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2033/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_2033/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/stretch3/dr_on/seed_2033/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..6b51d071a53612017cc5b4b3bc1523d2ea426dc1 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2033/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:b6c6db450fc836b4953539d46ba14d5ef56c3f48fc1fc20dfe37964140ccd789 +size 3184226 diff --git a/N033/stretch3/dr_on/seed_2033/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl b/N033/stretch3/dr_on/seed_2033/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7f047049b72f82366fb964042125de4c0e3f7c4f --- /dev/null +++ b/N033/stretch3/dr_on/seed_2033/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": 2153, "magicsim/control_steps": 4305, "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 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 1 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, slightly above table height."} diff --git a/N033/stretch3/dr_on/seed_2033/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/stretch3/dr_on/seed_2033/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6ea5b9bb2e5adee25181b9731a2898fb99bea0dd --- /dev/null +++ b/N033/stretch3/dr_on/seed_2033/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [-0.007924252682392729, 0.0, 0.02804517837762971, 0.5590085810577238, 0.9274074769212488, 0.7417240575807238, -0.31187058369427073, -0.03454403510366379, -0.10311052529424859, -0.016781572942893227, 0.4300975383186252], "std": [0.1592362475348526, 0.0, 0.18131044841443564, 1.362430038840276, 1.7621682687275402, 0.10092204760541365, 0.5348904095783024, 0.35632912357749025, 0.4350504407077311, 0.5369198254219801, 0.4950895331663657], "min": 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+ "subject": "rod_stop_1", + "relation": "left_of", + "object": "rod_s_1" + } + ], + "cameras": [ + { + "name": "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_robot": [ + 4.2097991801990755, + -0.11400004371224128, + 1.2357225885517042 + ], + "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": [ + 4.2174455050410256, + -0.03690198053999613, + -0.0036023736764245287 + ], + "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": [ + -3.4, + -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 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 1 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, 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": 3.1627700377756787, + "support": null + }, + "generic_instruction": "Stationringstretch the 3.1627700377756787.", + "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_2033/rec/stationringstretch/000/lerobot_v21/meta/info.json b/N033/stretch3/dr_on/seed_2033/rec/stationringstretch/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..8ad2575615239c1a0ce4a5ec36d3585a9421d4f2 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2033/rec/stationringstretch/000/lerobot_v21/meta/info.json @@ -0,0 +1,319 @@ +{ + "codebase_version": "v2.1", + "robot_type": "HelloRobotCfg", + "total_episodes": 1, + "total_frames": 2153, + "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": [ + 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", + "object_pose.ring_small.4", + "object_pose.ring_small.5", + "object_pose.ring_small.6", + "object_pose.rod_h.0", + "object_pose.rod_h.1", + "object_pose.rod_h.2", + "object_pose.rod_h.3", + "object_pose.rod_h.4", + "object_pose.rod_h.5", + "object_pose.rod_h.6", + "object_pose.rod_s.0", + "object_pose.rod_s.1", + "object_pose.rod_s.2", + "object_pose.rod_s.3", + "object_pose.rod_s.4", + "object_pose.rod_s.5", + "object_pose.rod_s.6", + "object_pose.rod_stop.0", + "object_pose.rod_stop.1", + "object_pose.rod_stop.2", + "object_pose.rod_stop.3", + "object_pose.rod_stop.4", + "object_pose.rod_stop.5", + "object_pose.rod_stop.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": [ + 896 + ], + "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 + }, + 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"video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N033/stretch3/dr_on/seed_2033/rec/stationringstretch/000/lerobot_v21/meta/magicsim_manifest.json b/N033/stretch3/dr_on/seed_2033/rec/stationringstretch/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..4d5d024270cb615357aba468d6e41920519c3aeb --- /dev/null +++ b/N033/stretch3/dr_on/seed_2033/rec/stationringstretch/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 04:31:26" + }, + "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", + "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": 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"MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "1" + }, + "cameras": { + "head": { + "link": "Robot_0/base_link", + "pos": [ + 0.049771, + -0.002942, + 1.295723 + ], + "ori": [ + 0.0002, + -55.623, + -90.0 + ], + "focal_length": 2.73834228515625, + "horizontal_aperture": 2.1600000858306885, + "vertical_aperture": 1.62 + }, + "wrist": { + "link": "Robot_0/link_gripper_s3_body", + "pos": [ + 0.009, + 0.062939, + 0.056398 + ], + "ori": [ + -170.0021, + 0.0, + -179.9998 + ], + "focal_length": 1.280753493309021, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.44 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "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": 971.4, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 26.2 + } +} diff --git a/N034/go2_arm/dr_off/seed_1025/check.json b/N034/go2_arm/dr_off/seed_1025/check.json new file mode 100644 index 0000000000000000000000000000000000000000..c9684e07f6f7a762b5df3390dae9984462071f2e --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1025/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": "1831 rows vs ceil(3662/2) = 1831" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..3761, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "19.99 MB, 1831 frames at 25 fps, mean luma 92..142, std 23, new picture 1830x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1831 vs 1831" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "28.39 MB, 1831 frames at 25 fps, mean luma 93..161, std 26, new picture 1830x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1831 vs 1831" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationbookend/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_off/seed_1025/check.txt b/N034/go2_arm/dr_off/seed_1025/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..2e5dea74355c7de32d59e97fd1322a07f737365c --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1025/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_go2_off_1025/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_go2_off_1025/out/rec/stationbookend/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1831 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: 1831 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 1831 at dataset fps 25 = 73.24 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1831 rows vs ceil(3662/2) = 1831 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..3761, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 19.99 MB, 1831 frames at 25 fps, mean luma 92..142, std 23, new picture 1830x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1831 vs 1831 +[PASS] video observation.images.wrist decodes, 640x480, not black: 28.39 MB, 1831 frames at 25 fps, mean luma 93..161, std 26, new picture 1830x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1831 vs 1831 +parquet size 6.80 MB +[PASS] sim_info present: rec/stationbookend/000/sim_info +dataset size 55.45 MB; whole cell dir 57.1 MB +RESULT: ALL PASS diff --git a/N034/go2_arm/dr_off/seed_1025/rec/stationbookend/000/completed/0.json b/N034/go2_arm/dr_off/seed_1025/rec/stationbookend/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..92774b53003e83bf90b8dbc14d938d81cff5769c --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1025/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_off/seed_1025/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/go2_arm/dr_off/seed_1025/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..7296c407dc2645bbfa28dfe9f61b6ca0f766d9ff --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1025/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:b6473cec7b9ffdaa3184b32b026453e6679f6265f11827c39b75a355b5698249 +size 6803886 diff --git a/N034/go2_arm/dr_off/seed_1025/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl b/N034/go2_arm/dr_off/seed_1025/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..35098e473b695ebf6b9ab67c990c3aa99cd9d435 --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1025/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": 1831, "magicsim/control_steps": 3662, "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 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_off/seed_1025/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/go2_arm/dr_off/seed_1025/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8537db8ff81cc9bf096619d1f5c21c8fd3655caa --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1025/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.10842064172863668, 0.0011389968735697423, 0.014195726358762558, 0.32474716491936206, 0.9366317466755892, 1.265159584642889, 0.6510273645739292, 0.09467739540234651, -0.4598178991265615, 0.8289792386643031, 0.06340938808301343, 0.6537411250682688], "std": [0.14058390741219112, 0.025603406868121254, 0.229638902131091, 0.03234999710538171, 1.4729982756500988, 1.665122078030807, 0.058411605200555355, 0.046855339546287754, 0.26183364066668696, 0.12697752603286933, 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[ + { + "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 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 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 [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": 1.6164936078391883, + "support": null + }, + "generic_instruction": "Stationbookend the 1.6164936078391883.", + "task_id": "N034", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0567": { + "frame_idx": 567, + "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_0594": { + "frame_idx": 594, + "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_0878": { + "frame_idx": 878, + "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_0892": { + "frame_idx": 892, + "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_0893": { + "frame_idx": 893, + "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_0946": { + "frame_idx": 946, + "caption": "Grasping the small red book, moving the arm in to make contact; the right gripper is below and to the left of and in front 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", + "in_front_of" + ] + }, + "frame_0977": { + "frame_idx": 977, + "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": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_0978": { + "frame_idx": 978, + "caption": "Grasping the small red book, moving the arm in to make contact; the right gripper is below the red book.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1008": { + "frame_idx": 1008, + "caption": "Closing the right gripper on the red book; the right gripper is below 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" + ] + }, + "frame_1068": { + "frame_idx": 1068, + "caption": "Lifting the red book away with the gripper; the right gripper is below the red book.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "ParallelGripper", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1069": { + "frame_idx": 1069, + "caption": "Lifting the red book away with the arm; the right gripper is below the red book.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1131": { + "frame_idx": 1131, + "caption": "Done — the small red book is grasped; the right gripper is below the red book.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_2826": { + "frame_idx": 2826, + "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_2851": { + "frame_idx": 2851, + "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", + 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{ + "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": 1459.7, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 44.1 + } +} diff --git a/N034/go2_arm/dr_on/seed_2033/check.json b/N034/go2_arm/dr_on/seed_2033/check.json new file mode 100644 index 0000000000000000000000000000000000000000..afb700308403e92c6597a14c5e8823bd7c458668 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2033/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": "1977 rows vs ceil(3953/2) = 1977" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4053, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "27.44 MB, 1977 frames at 25 fps, mean luma 72..111, std 36, new picture 1976x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1977 vs 1977" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "26.66 MB, 1977 frames at 25 fps, mean luma 29..138, std 24, new picture 1976x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1977 vs 1977" + }, + "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_2033/check.txt b/N034/go2_arm/dr_on/seed_2033/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..1b44255ff1b9a7430d96dbdf7339fa67e482a577 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2033/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_go2_on_2033/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_go2_on_2033/out/rec/stationbookend/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1977 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: 1977 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 1977 at dataset fps 25 = 79.08 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1977 rows vs ceil(3953/2) = 1977 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4053, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 27.44 MB, 1977 frames at 25 fps, mean luma 72..111, std 36, new picture 1976x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1977 vs 1977 +[PASS] video observation.images.wrist decodes, 640x480, not black: 26.66 MB, 1977 frames at 25 fps, mean luma 29..138, std 24, new picture 1976x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1977 vs 1977 +parquet size 7.06 MB +[PASS] sim_info present: rec/stationbookend/000/sim_info +dataset size 61.42 MB; whole cell dir 63.2 MB +RESULT: ALL PASS diff --git a/N034/go2_arm/dr_on/seed_2033/rec/stationbookend/000/completed/0.json b/N034/go2_arm/dr_on/seed_2033/rec/stationbookend/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..92774b53003e83bf90b8dbc14d938d81cff5769c --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2033/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_2033/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/go2_arm/dr_on/seed_2033/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..13893c93f63792d28750b547729d78ceea790d8c --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2033/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:b2bac75101cdae1cb6736d8d05f2ea77acacafd04de684241bbfacfbc7e26d9c +size 7058361 diff --git a/N034/go2_arm/dr_on/seed_2033/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl b/N034/go2_arm/dr_on/seed_2033/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0a1fb5d68fa09e6a81eb769855b9301a74ca69dc --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2033/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": 1977, "magicsim/control_steps": 3953, "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_2033/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/go2_arm/dr_on/seed_2033/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..76df28f96ad5e6227cc7b2bd2e307700070501fc --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2033/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.10351943511838074, -0.0016157768914531623, 0.012430821474789716, 0.3234025051211491, 1.0088305464132181, 1.3518613823282037, 0.6497454265331342, 0.09790645048566837, -0.4699023992999009, 0.8241757433946288, 0.06692774282927004, 0.6509863429438544], "std": [0.1371025455164238, 0.016475178523036822, 0.21034366867690818, 0.03232327106431599, 1.4537547232628956, 1.7755539867773584, 0.0590097693906898, 0.0472305134858563, 0.261071150719893, 0.11854217126343335, 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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 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[t[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": 1.5919737109807823, + "support": null + }, + "generic_instruction": "Stationbookend the 1.5919737109807823.", + "task_id": "N034", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0569": { + "frame_idx": 569, + "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_0596": { + "frame_idx": 596, + "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_0883": { + "frame_idx": 883, + "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_0897": { + "frame_idx": 897, + "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_0898": { + "frame_idx": 898, + "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_0953": { + "frame_idx": 953, + "caption": "Grasping the small red book, moving the arm in to make contact; the right gripper is below and to the left of and in front 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", + "in_front_of" + ] + }, + "frame_0966": { + "frame_idx": 966, + "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": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1015": { + "frame_idx": 1015, + "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_1075": { + "frame_idx": 1075, + "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_1076": { + "frame_idx": 1076, + "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_1116": { + "frame_idx": 1116, + "caption": "Lifting the red book away with the arm; the right gripper is below the red book.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1119": { + "frame_idx": 1119, + "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_1136": { + "frame_idx": 1136, + "caption": "Lifting the red book away with the arm; the right gripper is below the red book.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1138": { + "frame_idx": 1138, + "caption": "Done — the small red book is grasped; the right gripper is below the red book.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_3116": { + "frame_idx": 3116, + "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_3142": { + "frame_idx": 3142, + "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_3232": { + "frame_idx": 3232, + "caption": "Working on the small bookend; the right gripper is below and to the left of and 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"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": 1559.2, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 31.8 + } +} diff --git a/N034/sawyer_umi/dr_off/seed_1035/check.json b/N034/sawyer_umi/dr_off/seed_1035/check.json new file mode 100644 index 0000000000000000000000000000000000000000..62a3d7cc7ab081205d8c19814ce833d28d5f3532 --- /dev/null +++ b/N034/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: '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": "2128 rows vs ceil(4255/2) = 2128" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4355, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "23.87 MB, 2128 frames at 25 fps, mean luma 102..150, std 26, new picture 2127x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2128 vs 2128" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "37.58 MB, 2128 frames at 25 fps, mean luma 90..150, std 29, new picture 2127x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2128 vs 2128" + }, + "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_1035/check.txt b/N034/sawyer_umi/dr_off/seed_1035/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..16ada1f665d4c698f90d8ffa38059244504365e1 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1035/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_saw_off_1035/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_saw_off_1035/out/rec/stationbookendxr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2128 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: 2128 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 2128 at dataset fps 25 = 85.12 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2128 rows vs ceil(4255/2) = 2128 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4355, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 23.87 MB, 2128 frames at 25 fps, mean luma 102..150, std 26, new picture 2127x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2128 vs 2128 +[PASS] video observation.images.wrist decodes, 640x480, not black: 37.58 MB, 2128 frames at 25 fps, mean luma 90..150, std 29, new picture 2127x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2128 vs 2128 +parquet size 2.33 MB +[PASS] sim_info present: rec/stationbookendxr/000/sim_info +dataset size 63.96 MB; whole cell dir 65.1 MB +RESULT: ALL PASS diff --git a/N034/sawyer_umi/dr_off/seed_1035/rec/stationbookendxr/000/completed/0.json b/N034/sawyer_umi/dr_off/seed_1035/rec/stationbookendxr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..2218f14552b5319a4951e60bfd54adf3df3cac5e --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1035/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_1035/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/sawyer_umi/dr_off/seed_1035/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..8a4ad3369fd55ce2f13e54228692a657b0d6edac --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1035/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:f3954ea7bb07d3f9afa138a3f41c906d338e4335e000184124b0f1df26ad148e +size 2330419 diff --git a/N034/sawyer_umi/dr_off/seed_1035/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl b/N034/sawyer_umi/dr_off/seed_1035/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4223a432731f1fb8320c989cc238b0cd05333de3 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1035/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": 2128, "magicsim/control_steps": 4255, "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 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 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_1035/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/sawyer_umi/dr_off/seed_1035/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8fe4fe02093ed2a18356aec8ded91d783a5a7cea --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1035/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.08207196301406011, 0.0008542899005605202, 0.011439307863770239, 0.6411468087366425, 1.1479184264002045, 0.9329818845131344, 0.021107060535781017, -0.5458291755443004, 0.08797436162181237, 0.7217846903809928, 0.6198308270676691], "std": [0.1298018801257722, 0.008599105378620443, 0.16066875570678515, 1.2494530127716952, 1.616992380572228, 0.25378122816975257, 0.2476226747720361, 0.2330421682414912, 0.18966576187176193, 0.1459914603529892, 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"committed": 1, + "save_errors": {}, + "drain_s": 33.1 + } +} diff --git a/N034/stretch3/dr_off/seed_1067/check.json b/N034/stretch3/dr_off/seed_1067/check.json new file mode 100644 index 0000000000000000000000000000000000000000..6ca28cb3d99066894eab90d171fa625f83b5c8f9 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1067/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": "2612 rows vs ceil(5223/2) = 2612" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5323, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "26.32 MB, 2612 frames at 25 fps, mean luma 111..155, std 12, new picture 2611x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2612 vs 2612" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "48.63 MB, 2612 frames at 25 fps, mean luma 115..165, std 27, new picture 2611x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2612 vs 2612" + }, + "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_1067/check.txt b/N034/stretch3/dr_off/seed_1067/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..39be04a417b437de642183bb65e8d1f7724faf60 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1067/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_str_off_1067/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_str_off_1067/out/rec/stationbookendstretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2612 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: 2612 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 2612 at dataset fps 25 = 104.48 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2612 rows vs ceil(5223/2) = 2612 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5323, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 26.32 MB, 2612 frames at 25 fps, mean luma 111..155, std 12, new picture 2611x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2612 vs 2612 +[PASS] video observation.images.wrist decodes, 640x480, not black: 48.63 MB, 2612 frames at 25 fps, mean luma 115..165, std 27, new picture 2611x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2612 vs 2612 +parquet size 2.43 MB +[PASS] sim_info present: rec/stationbookendstretch/000/sim_info +dataset size 77.56 MB; whole cell dir 79.0 MB +RESULT: ALL PASS diff --git a/N034/stretch3/dr_off/seed_1067/rec/stationbookendstretch/000/completed/0.json b/N034/stretch3/dr_off/seed_1067/rec/stationbookendstretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..565ef5f65941ce16df1aafe3e0687de9fab4723e --- /dev/null +++ b/N034/stretch3/dr_off/seed_1067/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_1067/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/stretch3/dr_off/seed_1067/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..18c637e2e75e19ee5b53d59be8babf14b31350d0 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1067/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:d721933f2d05b64b577a57dc5c2585c77b1c59f13d8eeffdcf7e8291443a9051 +size 2432674 diff --git a/N034/stretch3/dr_off/seed_1067/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl b/N034/stretch3/dr_off/seed_1067/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b8ac9815fbbdaa88157f2b6dc01d8b7706a93e5a --- /dev/null +++ b/N034/stretch3/dr_off/seed_1067/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": 2612, "magicsim/control_steps": 5223, "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_1067/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/stretch3/dr_off/seed_1067/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..083884ffb7979ea6bf59d8a80df8ce2a7f39cd12 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1067/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [-0.01109169503769468, 0.0, 0.021033560708760616, 0.6596871193378571, 1.427901222603039, 0.6721105825321415, -0.2541552907191816, -0.0029823790237754385, -0.10024878088909343, -0.04042336182765922, 0.6542879019908117], "std": [0.1420698202468503, 0.0, 0.18207932799324816, 1.361784600603516, 1.8116231852877498, 0.17112053426775925, 0.5542586079175543, 0.416740097048107, 0.42187992791465195, 0.5146403957637883, 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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, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [t[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": 3.192899712186945, + "support": null + }, + "generic_instruction": "Stationbookendstretch the 3.192899712186945.", + "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_1067/rec/stationbookendstretch/000/lerobot_v21/meta/info.json b/N034/stretch3/dr_off/seed_1067/rec/stationbookendstretch/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..59585e72f5279272de6b2c3facffe5554454ee1c --- /dev/null +++ b/N034/stretch3/dr_off/seed_1067/rec/stationbookendstretch/000/lerobot_v21/meta/info.json @@ -0,0 +1,298 @@ +{ + "codebase_version": "v2.1", + "robot_type": "HelloRobotCfg", + "total_episodes": 1, + "total_frames": 2612, + "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/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": 1321.5, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 36.4 + } +} diff --git a/N034/stretch3/dr_off/seed_1069/check.json b/N034/stretch3/dr_off/seed_1069/check.json new file mode 100644 index 0000000000000000000000000000000000000000..585cd536e35db1c4f8506ad92323ad19da5d55cb --- /dev/null +++ b/N034/stretch3/dr_off/seed_1069/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": "2558 rows vs ceil(5115/2) = 2558" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5215, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "25.12 MB, 2558 frames at 25 fps, mean luma 114..156, std 12, new picture 2557x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2558 vs 2558" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "50.29 MB, 2558 frames at 25 fps, mean luma 119..167, std 27, new picture 2557x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2558 vs 2558" + }, + "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_1069/check.txt b/N034/stretch3/dr_off/seed_1069/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..823aa931b7aa4d7e6857787840732a608d7d68a9 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1069/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_str_off_1069/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_str_off_1069/out/rec/stationbookendstretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2558 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: 2558 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 2558 at dataset fps 25 = 102.32 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2558 rows vs ceil(5115/2) = 2558 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5215, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 25.12 MB, 2558 frames at 25 fps, mean luma 114..156, std 12, new picture 2557x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2558 vs 2558 +[PASS] video observation.images.wrist decodes, 640x480, not black: 50.29 MB, 2558 frames at 25 fps, mean luma 119..167, std 27, new picture 2557x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2558 vs 2558 +parquet size 3.27 MB +[PASS] sim_info present: rec/stationbookendstretch/000/sim_info +dataset size 78.89 MB; whole cell dir 80.4 MB +RESULT: ALL PASS diff --git a/N034/stretch3/dr_off/seed_1069/rec/stationbookendstretch/000/completed/0.json b/N034/stretch3/dr_off/seed_1069/rec/stationbookendstretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..565ef5f65941ce16df1aafe3e0687de9fab4723e --- /dev/null +++ b/N034/stretch3/dr_off/seed_1069/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_1069/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/stretch3/dr_off/seed_1069/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..c25659eb28abcbc3548371297a9aeec11aed8854 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1069/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0dc72e5df268e3654fc762577351aad7f15e58760b503d1eed39ff6f02753c13 +size 3269648 diff --git a/N034/stretch3/dr_off/seed_1069/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl b/N034/stretch3/dr_off/seed_1069/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..696c54c1b40eb13244720272edf70047e8965ab7 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1069/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": 2558, "magicsim/control_steps": 5115, "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_1069/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/stretch3/dr_off/seed_1069/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b46ef23b27c6b213dbcf71e95f0835efd05a1833 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1069/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [-0.010449206944594365, 0.0, 0.020731176777238184, 0.7244885626880334, 1.1536768618461395, 0.6735351895498428, -0.27177731935379035, 0.007867777864856582, -0.11784853849231341, -0.05361564343021869, 0.6473807662236122], "std": [0.1415167591558829, 0.0, 0.18964502700094177, 1.3718322013078683, 1.712379569041407, 0.17261052321347478, 0.549095071533024, 0.4111308801173306, 0.4197010385408397, 0.5124735987063348, 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] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N034/stretch3/dr_off/seed_1069/rec/stationbookendstretch/000/sim_info/0/actions.npz b/N034/stretch3/dr_off/seed_1069/rec/stationbookendstretch/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..2a6f4e419c5e2e3dbf9bd4d8e4f9fdad03916207 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1069/rec/stationbookendstretch/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5cbde7c6d3c029fd0199c479376da6186fa63a401ee5fe8d860bf0b2de700ffc +size 714120 diff --git a/N034/stretch3/dr_off/seed_1069/rec/stationbookendstretch/000/sim_info/0/device_commands.jsonl b/N034/stretch3/dr_off/seed_1069/rec/stationbookendstretch/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git 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"/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": 1120.0, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 27.4 + } +} diff --git a/N034/stretch3/dr_on/seed_2047/check.json b/N034/stretch3/dr_on/seed_2047/check.json new file mode 100644 index 0000000000000000000000000000000000000000..0def0eb7b784f2bf1174dc2e1f734a7f5cd8de18 --- /dev/null +++ b/N034/stretch3/dr_on/seed_2047/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": "3248 rows vs ceil(6496/2) = 3248" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..6595, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "35.73 MB, 3248 frames at 25 fps, mean luma 23..49, std 5, new picture 3247x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "3248 vs 3248" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "48.65 MB, 3248 frames at 25 fps, mean luma 40..125, std 36, new picture 3247x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "3248 vs 3248" + }, + "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_2047/check.txt b/N034/stretch3/dr_on/seed_2047/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..ec4a0debbf801ef63918ff80d592a15900ae1948 --- /dev/null +++ b/N034/stretch3/dr_on/seed_2047/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_str_on_2047/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_str_on_2047/out/rec/stationbookendstretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 3248 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: 3248 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 3248 at dataset fps 25 = 129.92 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3248 rows vs ceil(6496/2) = 3248 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..6595, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 35.73 MB, 3248 frames at 25 fps, mean luma 23..49, std 5, new picture 3247x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 3248 vs 3248 +[PASS] video observation.images.wrist decodes, 640x480, not black: 48.65 MB, 3248 frames at 25 fps, mean luma 40..125, std 36, new picture 3247x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 3248 vs 3248 +parquet size 3.75 MB +[PASS] sim_info present: rec/stationbookendstretch/000/sim_info +dataset size 88.34 MB; whole cell dir 90.2 MB +RESULT: ALL PASS diff --git a/N034/stretch3/dr_on/seed_2047/rec/stationbookendstretch/000/completed/0.json b/N034/stretch3/dr_on/seed_2047/rec/stationbookendstretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..565ef5f65941ce16df1aafe3e0687de9fab4723e --- /dev/null +++ b/N034/stretch3/dr_on/seed_2047/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_2047/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/stretch3/dr_on/seed_2047/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..0d05517b4cc5dac31f74340fe2ed21d5e2c19a5d --- /dev/null +++ b/N034/stretch3/dr_on/seed_2047/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:b8e6dca5f94c2cda9218ef139cf1de75a2b30f3c4e5e51f0e9e50ec874a80dd4 +size 3752977 diff --git a/N034/stretch3/dr_on/seed_2047/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl b/N034/stretch3/dr_on/seed_2047/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..981e3e8f1834bc9818af29b2453c72c0eb26ae2b --- /dev/null +++ b/N034/stretch3/dr_on/seed_2047/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": 3248, "magicsim/control_steps": 6496, "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 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_2047/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/stretch3/dr_on/seed_2047/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6e162abfb7f9fcdcf906b2a3ee36e654d27484f6 --- /dev/null +++ b/N034/stretch3/dr_on/seed_2047/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [-0.008696615167209888, 0.0, 0.019178683132052496, 1.083208493513326, 1.5874923557465153, 0.6145139743798765, -0.3719326338427958, -0.017661575249332064, -0.24037174909336473, -0.015309570002587916, 0.7210591133004927], "std": [0.12744802598618762, 0.0, 0.19377773872583087, 1.3147952404608543, 1.641017690069192, 0.19622797738416167, 0.5077869144247152, 0.3765583700333244, 0.4333957671599223, 0.4646132367993339, 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"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 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, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[t[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": 3.069692584281591, + "support": null + }, + "generic_instruction": "Stationbookendstretch the 3.069692584281591.", + "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_2047/rec/stationbookendstretch/000/lerobot_v21/meta/info.json b/N034/stretch3/dr_on/seed_2047/rec/stationbookendstretch/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..0df022f20a9108302b20466c5a12a92ff5de651e --- /dev/null +++ b/N034/stretch3/dr_on/seed_2047/rec/stationbookendstretch/000/lerobot_v21/meta/info.json @@ -0,0 +1,298 @@ +{ + "codebase_version": "v2.1", + "robot_type": "HelloRobotCfg", + "total_episodes": 1, + "total_frames": 3248, + "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/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": 1475.6, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 36.0 + } +} diff --git a/N034/stretch3/dr_on/seed_2049/check.json b/N034/stretch3/dr_on/seed_2049/check.json new file mode 100644 index 0000000000000000000000000000000000000000..b1789ecff295510b242680d224ada901f92008f9 --- /dev/null +++ b/N034/stretch3/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 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": "3512 rows vs ceil(7024/2) = 3512" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..7123, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "145.29 MB, 3512 frames at 25 fps, mean luma 58..146, std 14, new picture 3511x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "3512 vs 3512" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "90.86 MB, 3512 frames at 25 fps, mean luma 74..144, std 25, new picture 3511x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "3512 vs 3512" + }, + "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_2049/check.txt b/N034/stretch3/dr_on/seed_2049/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..d1add07110528fb4f833d83b70362fcdbcddbbea --- /dev/null +++ b/N034/stretch3/dr_on/seed_2049/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_str_on_2049/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_str_on_2049/out/rec/stationbookendstretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 3512 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: 3512 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 3512 at dataset fps 25 = 140.48 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3512 rows vs ceil(7024/2) = 3512 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..7123, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 145.29 MB, 3512 frames at 25 fps, mean luma 58..146, std 14, new picture 3511x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 3512 vs 3512 +[PASS] video observation.images.wrist decodes, 640x480, not black: 90.86 MB, 3512 frames at 25 fps, mean luma 74..144, std 25, new picture 3511x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 3512 vs 3512 +parquet size 3.91 MB +[PASS] sim_info present: rec/stationbookendstretch/000/sim_info +dataset size 240.27 MB; whole cell dir 242.2 MB +RESULT: ALL PASS diff --git a/N034/stretch3/dr_on/seed_2049/rec/stationbookendstretch/000/completed/0.json b/N034/stretch3/dr_on/seed_2049/rec/stationbookendstretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..565ef5f65941ce16df1aafe3e0687de9fab4723e --- /dev/null +++ b/N034/stretch3/dr_on/seed_2049/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_2049/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/stretch3/dr_on/seed_2049/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..7965ff0d5ebca0132bee3e67b74b18ac9c140577 --- /dev/null +++ b/N034/stretch3/dr_on/seed_2049/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4093215b6c00e66e574fa95c0a6c72f0c67e014f8a736ad9f54a21b457accd56 +size 3910019 diff --git a/N034/stretch3/dr_on/seed_2049/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl b/N034/stretch3/dr_on/seed_2049/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..71fcadff6ebb8def42585b6b1534e66556bf6956 --- /dev/null +++ b/N034/stretch3/dr_on/seed_2049/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": 3512, "magicsim/control_steps": 7024, "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 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, slightly above table height."} diff --git a/N034/stretch3/dr_on/seed_2049/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/stretch3/dr_on/seed_2049/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..04730d3954c358a639feca28fc0ac852bbb25c26 --- /dev/null +++ b/N034/stretch3/dr_on/seed_2049/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [-0.004974164588788974, 0.0, 0.015631118716920273, 1.215478990645973, 1.7364646598488804, 0.6271548574293936, -0.4097606485135858, -0.021995177430353164, -0.28327009179293433, 0.002001834057424226, 0.7297835990888383], "std": [0.12396430036166572, 0.0, 0.2358765772965077, 1.365831993281216, 1.6590511444495706, 0.20320679117591894, 0.469265313335826, 0.38100991775360876, 0.4145908642743544, 0.4627119280697939, 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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 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. 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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": 1621.6, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 65.9 + } +} diff --git a/N034/stretch3/dr_on/seed_2050/check.json b/N034/stretch3/dr_on/seed_2050/check.json new file mode 100644 index 0000000000000000000000000000000000000000..fbdfa1e40476fdbdde8bc3c761f022a518e4fd8f --- /dev/null +++ b/N034/stretch3/dr_on/seed_2050/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": "3145 rows vs ceil(6289/2) = 3145" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..6389, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "85.61 MB, 3145 frames at 25 fps, mean luma 95..146, std 14, new picture 3144x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "3145 vs 3145" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "86.11 MB, 3145 frames at 25 fps, mean luma 82..172, std 30, new picture 3144x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "3145 vs 3145" + }, + "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_2050/check.txt b/N034/stretch3/dr_on/seed_2050/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..3d724b4db00770a0105ddb1e806b6335025df594 --- /dev/null +++ b/N034/stretch3/dr_on/seed_2050/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_str_on_2050/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_str_on_2050/out/rec/stationbookendstretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 3145 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: 3145 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 3145 at dataset fps 25 = 125.80 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3145 rows vs ceil(6289/2) = 3145 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..6389, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 85.61 MB, 3145 frames at 25 fps, mean luma 95..146, std 14, new picture 3144x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 3145 vs 3145 +[PASS] video observation.images.wrist decodes, 640x480, not black: 86.11 MB, 3145 frames at 25 fps, mean luma 82..172, std 30, new picture 3144x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 3145 vs 3145 +parquet size 3.54 MB +[PASS] sim_info present: rec/stationbookendstretch/000/sim_info +dataset size 175.48 MB; whole cell dir 177.2 MB +RESULT: ALL PASS diff --git a/N034/stretch3/dr_on/seed_2050/rec/stationbookendstretch/000/completed/0.json b/N034/stretch3/dr_on/seed_2050/rec/stationbookendstretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..565ef5f65941ce16df1aafe3e0687de9fab4723e --- /dev/null +++ b/N034/stretch3/dr_on/seed_2050/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_2050/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/stretch3/dr_on/seed_2050/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..f115f3ff354f57eadc1b1e1d296cf315eaaed153 --- /dev/null +++ b/N034/stretch3/dr_on/seed_2050/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:a2518b01afd6e84c1e3d9b5f2ed70d106f1285b3f51fe13da16f4fd0b91f9140 +size 3543511 diff --git a/N034/stretch3/dr_on/seed_2050/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl b/N034/stretch3/dr_on/seed_2050/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1c24b921e6350f3926c6fb26e696f904ee513ba4 --- /dev/null +++ b/N034/stretch3/dr_on/seed_2050/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": 3145, "magicsim/control_steps": 6289, "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_2050/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/stretch3/dr_on/seed_2050/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1ce285f84c5ed8b72a3bfb75056ffaa19e5a5efe --- /dev/null +++ b/N034/stretch3/dr_on/seed_2050/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [-0.007834831459687604, 0.0, -0.02959832711173414, 1.0198107179994613, 1.501332706978192, 0.6166636381316072, -0.3939479712744787, -0.011459858022700975, -0.2616106451689756, 0.0032411877680362596, 0.7325914149443561], "std": [0.12817738127664227, 0.0, 0.16014596044690968, 1.2850627568201314, 1.7067525386412752, 0.19882471170127533, 0.48977765700774495, 0.36796904813244596, 0.4344792210451927, 0.4606163562445833, 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"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.", + "layout_ascii": " +x forward / +y left (top-down view)\n[[[bookend]\n\n\n\n [sl[book]ht]\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": 3.1012459832836488, + "support": null + }, + "generic_instruction": "Stationbookendstretch the 3.1012459832836488.", + "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_2050/rec/stationbookendstretch/000/lerobot_v21/meta/info.json 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