add N026/sawyer_umi/dr_on/seed_2036

N026/sawyer_umi/dr_on/seed_2036/data/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 tool rack, pick up the hook, carry it to the channel, and use the hook to pull the ring out onto the marked square.'; expected 'Go to the tool rack, pick up the hook, carry it to the channel, and use the hook to pull the ring out onto the marked square.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "3164 rows vs ceil(6328/2) = 3164"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 61..6387, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "98.76 MB, 3164 frames at 25 fps, mean luma 45..96, std 37, new picture 3163x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "3164 vs 3164"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "66.35 MB, 3164 frames at 25 fps, mean luma 79..117, std 29, new picture 3163x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "3164 vs 3164"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "mobiletooltask/000/sim_info"
+  }
+ }
+}

N026/sawyer_umi/dr_on/seed_2036/data/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n026_saw_on_2036/out/data  task=N026  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n026_saw_on_2036/out/data/mobiletooltask/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 3164  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: 3164 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 tool rack, pick up the hook, carry it to the channel, and use the hook to pull the ring out onto the marked square.'; expected 'Go to the tool rack, pick up the hook, carry it to the channel, and use the hook to pull the ring out onto the marked square.'
+rows 3164 at dataset fps 25 = 126.56 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3164 rows vs ceil(6328/2) = 3164
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6387, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 98.76 MB, 3164 frames at 25 fps, mean luma 45..96, std 37, new picture 3163x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 3164 vs 3164
+[PASS] video observation.images.wrist decodes, 640x480, not black: 66.35 MB, 3164 frames at 25 fps, mean luma 79..117, std 29, new picture 3163x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 3164 vs 3164
+parquet size 2.31 MB
+[PASS] sim_info present: mobiletooltask/000/sim_info
+dataset size 167.49 MB; whole cell dir 169.0 MB
+RESULT: ALL PASS

N026/sawyer_umi/dr_on/seed_2036/data/mobiletooltask/000/completed/0.json

@@ -0,0 +1 @@
+{"run_id": "mobiletooltask/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null}

N026/sawyer_umi/dr_on/seed_2036/data/mobiletooltask/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eab1f8d6487ed3a2b2db1ad3a07618ab866210961560b12b2e512489aeccf5e1
+size 2312083

N026/sawyer_umi/dr_on/seed_2036/data/mobiletooltask/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Go to the tool rack, pick up the hook, carry it to the channel, and use the hook to pull the ring out onto the marked square."], "length": 3164, "magicsim/control_steps": 6328, "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 saddle front saddle base. There are a large gray table a, a large gray table b, a large gray saddle rear saddle base, a large gray saddle front saddle base, a small hook, a large white channel floor, a large gray rail l, a large gray rail r, a large gray end wall, a large green marker and a small ring. The gray table a is to the right of the gray saddle front saddle base. The gray saddle rear saddle base is to the left of the hook. The hook is on top of the gray saddle front saddle base. The white channel floor is to the right of the ring. The gray rail l is to the left of the white channel floor. The gray rail r is to the right of the white channel floor. The gray end wall is to the left of the ring. The green marker is to the right of the white channel floor. The ring is to the left of the white channel floor. The scene is viewed from front, at table height."}

N026/sawyer_umi/dr_on/seed_2036/data/mobiletooltask/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -0,0 +1 @@
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[100]}}}

N026/sawyer_umi/dr_on/seed_2036/data/mobiletooltask/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,537 @@
+{
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+     "relation": "right_of",
+     "object": "saddle_front_saddle_base_1"
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+     "relation": "left_of",
+     "object": "hook_1"
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+     "relation": "on_top_of",
+     "object": "saddle_front_saddle_base_1"
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+    {
+     "subject": "channel_floor_1",
+     "relation": "right_of",
+     "object": "ring_1"
+    },
+    {
+     "subject": "rail_l_1",
+     "relation": "left_of",
+     "object": "channel_floor_1"
+    },
+    {
+     "subject": "rail_r_1",
+     "relation": "right_of",
+     "object": "channel_floor_1"
+    },
+    {
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+     "relation": "left_of",
+     "object": "ring_1"
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+     "relation": "right_of",
+     "object": "channel_floor_1"
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+     "subject": "ring_1",
+     "relation": "left_of",
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+     "viewpoint": "front, at table height",
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+    {
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+     "intrinsics": {
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+      "resolution": [
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+     "viewpoint": "front, at table height",
+     "extrinsics": {
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+    }
+   ],
+   "robots": [
+    {
+     "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": [
+       -3.3395314034647754,
+       -2.5,
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+      ],
+      "ori": [
+       0.926144540309906,
+       0.0,
+       0.0,
+       0.3771688640117645
+      ]
+     },
+     "facing_yaw_deg": 44.316851943848256,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1000.0,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray saddle front saddle base. There are a large gray table a, a large gray table b, a large gray saddle rear saddle base, a large gray saddle front saddle base, a small hook, a large white channel floor, a large gray rail l, a large gray rail r, a large gray end wall, a large green marker and a small ring. The gray table a is to the right of the gray saddle front saddle base. The gray saddle rear saddle base is to the left of the hook. The hook is on top of the gray saddle front saddle base. The white channel floor is to the right of the ring. The gray rail l is to the left of the white channel floor. The gray rail r is to the right of the white channel floor. The gray end wall is to the left of the ring. The green marker is to the right of the white channel floor. The ring is to the left of the white channel floor. The scene is viewed from front, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                [chan[e[[ring]]\n\n\n     [saddle [hook]saddle base]\n\n\n\n\n[robot]"
+  },
+  "task": {
+   "task_type": "MobileToolTask",
+   "instruction": "Go to the tool rack, pick up the hook, carry it to the channel, and use the hook to pull the ring out onto the marked square.",
+   "template_id": -1,
+   "slots": {
+    "obj": null,
+    "support": null
+   },
+   "generic_instruction": "Mobiletooltask the object.",
+   "task_id": "N026",
+   "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
+}

N026/sawyer_umi/dr_on/seed_2036/data/mobiletooltask/000/lerobot_v21/meta/info.json

@@ -0,0 +1,327 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "RidgebackSawyerUmiCfg",
+    "total_episodes": 1,
+    "total_frames": 3164,
+    "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
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+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
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N026/sawyer_umi/dr_on/seed_2036/data/mobiletooltask/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,264 @@
+{
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N026/sawyer_umi/dr_on/seed_2036/data/mobiletooltask/000/lerobot_v21/meta/stats.json

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N026/sawyer_umi/dr_on/seed_2036/data/mobiletooltask/000/sim_info/magicsim_manifest.json

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+{
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+        "time": "2026-11-07 21:07:44"
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+        "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)"
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+        "task_type": "MobileToolTask"
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+}

N026/sawyer_umi/dr_on/seed_2036/data/mobiletooltask/000/visual_dr.json

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+      "rigid_body"
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+      "rigid_body"
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+     [
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+      "rigid_body"
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+      "rigid_body"
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+      "rigid_body"
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+      "rigid_body"
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+     [
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+      "rigid_body"
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+      "rigid_body"
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+      "rigid_body"
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+      "rigid_body"
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+      "rigid_body"
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+      "rigid_body"
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+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh7",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh8",
+      "rigid_body"
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+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh1",
+      "rigid_body"
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+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh9",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/collisions/mesh_0/sphere",
+      "rigid_body"
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+     [
+      "/World/envs/env_0/Robot_0/screen/visuals/mesh_0/box",
+      "rigid_body"
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+     "reason": "glass",
+     "bound_prims": 1
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
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+     "mdl": "OmniGlass.mdl",
+     "bound_prims": 1
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+   ]
+  }
+ ]
+}