diff --git a/N025/sawyer_umi/dr_off/seed_1046/check.json b/N025/sawyer_umi/dr_off/seed_1046/check.json new file mode 100644 index 0000000000000000000000000000000000000000..41c3ad315458ac7d5c8f0e11b88b2d1c2b2d6153 --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1046/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": "13.54 MB, 1363 frames at 25 fps, mean luma 89..140, std 37, 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": "22.75 MB, 1363 frames at 25 fps, mean luma 95..174, std 41, 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_1046/check.txt b/N025/sawyer_umi/dr_off/seed_1046/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..58db57177e3f4a930c17ebd1ccab407153eb326e --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1046/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_saw_off_1046/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_saw_off_1046/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: 13.54 MB, 1363 frames at 25 fps, mean luma 89..140, std 37, 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: 22.75 MB, 1363 frames at 25 fps, mean luma 95..174, std 41, new picture 1362x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1363 vs 1363 +parquet size 2.06 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 38.51 MB; whole cell dir 39.4 MB +RESULT: ALL PASS diff --git a/N025/sawyer_umi/dr_off/seed_1046/report.json b/N025/sawyer_umi/dr_off/seed_1046/report.json new file mode 100644 index 0000000000000000000000000000000000000000..266c03cfa1a39c228ae93cf6b45c040fc27838fa --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1046/report.json @@ -0,0 +1,1775 @@ +{ + "task": "N025", + "agent_id": null, + "embodiment": "sawyer_umi", + "level": "easy", + "scene_seed": 1046, + "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": 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b/N025/sawyer_umi/dr_off/seed_1046/stationassembly/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..4cb935255d5856662aa5b4abd06ccaf34aea5f85 --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1046/stationassembly/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1f8e5207b69ba944395efd45c47eca41ba3bc9fe3368facc7549b70ff75c961 +size 388604 diff --git a/N025/sawyer_umi/dr_off/seed_1046/stationassembly/000/sim_info/magicsim_manifest.json b/N025/sawyer_umi/dr_off/seed_1046/stationassembly/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..060dc8547be5c3888ac18c09f68124ac8e1abb2c --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1046/stationassembly/000/sim_info/magicsim_manifest.json @@ -0,0 +1,233 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 10:10:44" + }, + "embodiment": { + "robots": [ + { + "name": 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-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_2046/check.json b/N025/sawyer_umi/dr_on/seed_2046/check.json new file mode 100644 index 0000000000000000000000000000000000000000..a59cb0f3638af2e38b08cc4c98cbe9f32a4ae95e --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2046/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": "1320 rows vs ceil(2639/2) = 1320" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..2669, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "35.83 MB, 1320 frames at 25 fps, mean luma 69..112, std 40, new picture 1319x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1320 vs 1320" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "35.66 MB, 1320 frames at 25 fps, mean luma 82..154, std 37, new picture 1319x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1320 vs 1320" + }, + "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_2046/check.txt b/N025/sawyer_umi/dr_on/seed_2046/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..e144c03cb022f346cc118974126ae7023a2d4f95 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2046/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_saw_on_2046/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_saw_on_2046/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1320 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: 1320 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 1320 at dataset fps 25 = 52.80 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1320 rows vs ceil(2639/2) = 1320 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..2669, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 35.83 MB, 1320 frames at 25 fps, mean luma 69..112, std 40, new picture 1319x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1320 vs 1320 +[PASS] video observation.images.wrist decodes, 640x480, not black: 35.66 MB, 1320 frames at 25 fps, mean luma 82..154, std 37, new picture 1319x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1320 vs 1320 +parquet size 1.95 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 73.62 MB; whole cell dir 74.5 MB +RESULT: ALL PASS diff --git a/N025/sawyer_umi/dr_on/seed_2046/report.json b/N025/sawyer_umi/dr_on/seed_2046/report.json new file mode 100644 index 0000000000000000000000000000000000000000..11f4cff214015b1068e0b05f7d4324b116fd456f --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2046/report.json @@ -0,0 +1,1730 @@ +{ + "task": "N025", + "agent_id": null, + "embodiment": "sawyer_umi", + "level": "easy", + "scene_seed": 2046, + "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": 2046, + "wedge": { + "dx": -0.03123, + "dy": -0.02451, + "yaw_deg": -6.52917 + }, + "shim_board": { + "dx": -0.05828, + "dy": 0.039, + "yaw_deg": 3.51994 + }, + "wedge_mass": 0.03673, + "light": 1060.33243, + "spawn": { + "dx": -0.03074, + "dy": 0.09522, + "yaw_deg": 3.27724 + }, + "overrides": { + "env.scene.objects.wedge.common.pos": [ + -2.03123, + 1.37549, + 0.431 + ], + "env.scene.objects.wedge.common.ori": [ + 0.0, + 0.0, + 83.47083 + ], + "env.scene.objects.shim_board.common.pos": [ + 1.14172, + 3.189, + 0.43 + ], + "env.scene.objects.shim_board.common.ori": [ + 0.0, + 0.0, + -86.48006 + ], + "env.scene.objects.wedge.wedge_1.physics.mass": 0.03673, + "env.scene.background.intensity": [ + 1060.33243, + 1060.33243 + ], + "env.robot.RidgebackSawyerUmi.common.pos": [ + [ + -3.63074, + -2.40478, + 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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": [ + -3.63074, + -2.40478, + 0.06 + ], + "ori": [ + 0.851373553276062, + 0.0, + 0.0, + 0.5245599150657654 + ] + }, + "facing_yaw_deg": 63.27724385561091, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1060.33243, + "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 A is in front of the wedge. The gray table B is to the right of the shim board. The shim board is on top of the gray table B. The shim board is to the left of the gray table B. The wedge is on top of the gray table A. The wedge is behind the gray table A. The scene is viewed from front-right, 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_0630": { + "frame_idx": 630, + "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_0638": { + "frame_idx": 638, + "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_0732": { + "frame_idx": 732, + "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_0733": { + "frame_idx": 733, + "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_0806": { + "frame_idx": 806, + "caption": "Working on the small wedge; the right gripper is below and to the left of and behind 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", + "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_1140": { + "frame_idx": 1140, + "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_1141": { + "frame_idx": 1141, + "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_1169": { + "frame_idx": 1169, + "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_1175": { + "frame_idx": 1175, + "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_2168": { + "frame_idx": 2168, + "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_2190": { + "frame_idx": 2190, + "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_2398": { + "frame_idx": 2398, + "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_2401": { + "frame_idx": 2401, + "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_on/seed_2046/stationassembly/000/lerobot_v21/meta/info.json b/N025/sawyer_umi/dr_on/seed_2046/stationassembly/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..33bab2e79d0520fa265abd8c43d2c410b87f6c47 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2046/stationassembly/000/lerobot_v21/meta/info.json @@ -0,0 +1,277 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 1320, + "total_tasks": 1, + 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"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/N025/sawyer_umi/dr_on/seed_2046/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json b/N025/sawyer_umi/dr_on/seed_2046/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..e4c3d6fa4e6926f79c8e3b14101fa842086ea3bc --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2046/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,264 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 10:11:01" + }, + "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" + ], + 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"formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "visual_dr": { + "keep": [ + "wedge", + "shim_board" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_on/seed_2046/stationassembly/000/sim_info/0/actions.npz b/N025/sawyer_umi/dr_on/seed_2046/stationassembly/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..9b45f187a5e46f1c00feb5b8819f87b47e09fcf0 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2046/stationassembly/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b0a30fc733f8538b60952b66729f0c66c56c776750bf09f8089736f56cd65a5 +size 410695 diff --git a/N025/sawyer_umi/dr_on/seed_2046/stationassembly/000/sim_info/0/device_commands.jsonl 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b/N025/sawyer_umi/dr_on/seed_2046/stationassembly/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..51a31018d27dbcabea8dccaa9580fd80cca3f703 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2046/stationassembly/000/sim_info/magicsim_manifest.json @@ -0,0 +1,233 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 10:11:23" + }, + "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", + 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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/stretch3/dr_off/seed_1054/check.json b/N025/stretch3/dr_off/seed_1054/check.json new file mode 100644 index 0000000000000000000000000000000000000000..d25fc7bbbaec14bcf43802e17e71a592dee0fdf2 --- /dev/null +++ b/N025/stretch3/dr_off/seed_1054/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": "2655 rows vs ceil(5310/2) = 2655" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..5339, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "23.20 MB, 2655 frames at 25 fps, mean luma 108..146, std 16, new picture 2654x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2655 vs 2655" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "44.49 MB, 2655 frames at 25 fps, mean luma 123..169, std 29, new picture 2654x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2655 vs 2655" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N025/stretch3/dr_off/seed_1054/check.txt b/N025/stretch3/dr_off/seed_1054/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..cb03287741a270f1a73853a02a06b7b9128c06e2 --- /dev/null +++ b/N025/stretch3/dr_off/seed_1054/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_str_off_1054/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_str_off_1054/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2655 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: 2655 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 2655 at dataset fps 25 = 106.20 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2655 rows vs ceil(5310/2) = 2655 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..5339, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 23.20 MB, 2655 frames at 25 fps, mean luma 108..146, std 16, new picture 2654x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2655 vs 2655 +[PASS] video observation.images.wrist decodes, 640x480, not black: 44.49 MB, 2655 frames at 25 fps, mean luma 123..169, std 29, new picture 2654x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2655 vs 2655 +parquet size 2.94 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 70.82 MB; whole cell dir 72.3 MB +RESULT: ALL PASS diff --git a/N025/stretch3/dr_off/seed_1054/report.json b/N025/stretch3/dr_off/seed_1054/report.json new file mode 100644 index 0000000000000000000000000000000000000000..481e5fac78163502a952cb894c20cfbcd7711be7 --- /dev/null +++ b/N025/stretch3/dr_off/seed_1054/report.json @@ -0,0 +1,2926 @@ +{ + "task": "N025", + "agent_id": null, + "embodiment": "stretch3", + "level": "easy", + "scene_seed": 1054, + "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": 1054, + "wedge": { + "dx": 0.05063, + "dy": 0.02951, + "yaw_deg": -2.37126 + }, + "shim_board": { + "dx": 0.03025, + "dy": 0.0017, + "yaw_deg": 2.82428 + }, + "wedge_mass": 0.02075, + "light": 986.02527, + "spawn": { + "dx": 0.08734, + "dy": 0.09153, + "yaw_deg": -1.08048 + }, + "overrides": { + "env.scene.objects.wedge.common.pos": [ + -1.94937, + 1.42951, + 0.431 + ], + "env.scene.objects.wedge.common.ori": [ + 0.0, + 0.0, + 87.62874 + ], + "env.scene.objects.shim_board.common.pos": [ + 1.23025, + 3.1517, 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[ + 0.8707013130187988, + 0.0, + 0.0, + 0.49181216955184937 + ] + }, + "facing_yaw_deg": 58.919519708255464, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 986.02527, + "ambient": "dim" + }, + "effects": [], + "caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is to the left of the wedge. The gray table B is to the right of the shim board. The shim board is on top of the gray table B. The shim board is to the left of the gray table B. The wedge is on top of the gray table A. The wedge is to the right of the gray table A. The scene is viewed from front-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_1634": { + "frame_idx": 1634, + "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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"planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_1840": { + "frame_idx": 1840, + "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_1949": { + "frame_idx": 1949, + "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_2026": { + "frame_idx": 2026, + "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_2148": { + "frame_idx": 2148, + "caption": "Working on the small wedge.", + "skill": "AssemblyGrasp", + "phase": "grasp", + "skill_state": "running", + "planner": "AssemblyServoL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [] + }, + "frame_2213": { + "frame_idx": 2213, + "caption": "Working on the small wedge; the right gripper is below the wedge.", + "skill": "AssemblyGrasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_2262": { + "frame_idx": 2262, + "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_2263": { + "frame_idx": 2263, + "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_2291": { + "frame_idx": 2291, + "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_2299": { + "frame_idx": 2299, + "caption": "Working on the small wedge; the right 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"keep": [ + "wedge", + "shim_board" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N025/stretch3/dr_off/seed_1054/stationassembly/000/sim_info/0/actions.npz b/N025/stretch3/dr_off/seed_1054/stationassembly/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..cd2bedc9e4c619f3cbd83101042bcadaef734b1c --- /dev/null +++ b/N025/stretch3/dr_off/seed_1054/stationassembly/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0318b05bdf6a8d10866daf2e070a5f6e2d0b87fe29886c05926c24dddb73e5ca +size 658719 diff --git a/N025/stretch3/dr_off/seed_1054/stationassembly/000/sim_info/0/device_commands.jsonl b/N025/stretch3/dr_off/seed_1054/stationassembly/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git 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"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_1054/stationassembly/000/sim_info/magicsim_manifest.json @@ -0,0 +1,228 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 10:18:40" + }, + "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", + 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(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_2055/check.json b/N025/stretch3/dr_on/seed_2055/check.json new file mode 100644 index 0000000000000000000000000000000000000000..5942d5f1b523a20c0235f23c717223d787c3a03b --- /dev/null +++ b/N025/stretch3/dr_on/seed_2055/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": "2321 rows vs ceil(4642/2) = 2321" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..4671, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "63.14 MB, 2321 frames at 25 fps, mean luma 92..142, std 33, new picture 2320x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2321 vs 2321" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "49.82 MB, 2321 frames at 25 fps, mean luma 100..152, std 32, new picture 2320x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2321 vs 2321" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N025/stretch3/dr_on/seed_2055/check.txt b/N025/stretch3/dr_on/seed_2055/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..9a1535fc8f322613bb0a79b754cac238ce39a190 --- /dev/null +++ b/N025/stretch3/dr_on/seed_2055/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_str_on_2055/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_str_on_2055/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2321 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: 2321 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 2321 at dataset fps 25 = 92.84 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2321 rows vs ceil(4642/2) = 2321 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..4671, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 63.14 MB, 2321 frames at 25 fps, mean luma 92..142, std 33, new picture 2320x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2321 vs 2321 +[PASS] video observation.images.wrist decodes, 640x480, not black: 49.82 MB, 2321 frames at 25 fps, mean luma 100..152, std 32, new picture 2320x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2321 vs 2321 +parquet size 2.75 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 115.90 MB; whole cell dir 117.3 MB +RESULT: ALL PASS diff --git a/N025/stretch3/dr_on/seed_2055/report.json b/N025/stretch3/dr_on/seed_2055/report.json new file mode 100644 index 0000000000000000000000000000000000000000..4ce3bbf447828087d680b82d4f87fc95aaced26f --- /dev/null +++ b/N025/stretch3/dr_on/seed_2055/report.json @@ -0,0 +1,2898 @@ +{ + "task": "N025", + "agent_id": null, + "embodiment": "stretch3", + "level": "easy", + "scene_seed": 2055, + "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": 2055, + "wedge": { + "dx": -0.00285, + "dy": -0.01301, + "yaw_deg": -4.51523 + }, + "shim_board": { + "dx": 0.056, + "dy": 0.00811, + "yaw_deg": 4.68749 + }, + "wedge_mass": 0.02595, + "light": 1140.34697, + "spawn": { + "dx": 0.13321, + "dy": 0.0101, + "yaw_deg": 11.40341 + }, + "overrides": { + "env.scene.objects.wedge.common.pos": [ + -2.00285, + 1.38699, + 0.431 + ], + "env.scene.objects.wedge.common.ori": [ + 0.0, + 0.0, + 85.48477 + ], + "env.scene.objects.shim_board.common.pos": [ + 1.256, + 3.15811, 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"Hello Robot Stretch 3 mobile manipulator", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.46679, + -2.4899, + 0.06 + ], + "ori": [ + 0.8120661377906799, + 0.0, + 0.0, + 0.583565354347229 + ] + }, + "facing_yaw_deg": 71.40340595360352, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1140.34697, + "ambient": "dim" + }, + "effects": [], + "caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is 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, 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_1638": { + "frame_idx": 1638, + "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": [ + "below", + "right_of", + "in_front_of" + ] + }, + "frame_1641": { + "frame_idx": 1641, + "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_1776": { + "frame_idx": 1776, + "caption": "Working on the small wedge; the right gripper is below and to the right 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" + ] + }, + "frame_1792": { + "frame_idx": 1792, + "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_1850": { + "frame_idx": 1850, + "caption": "Working on the small wedge; the right gripper is below and to the right 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" + ] + }, + "frame_1869": { + "frame_idx": 1869, + "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_2018": { + "frame_idx": 2018, + "caption": 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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_2158": { + "frame_idx": 2158, + "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_2180": { + "frame_idx": 2180, + "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_4060": { + "frame_idx": 4060, + "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavToTrim", + "planner_state": "finished", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_4061": { + "frame_idx": 4061, + "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_4178": { + "frame_idx": 4178, + "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 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@@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 10:20:20" + }, + "embodiment": { + "robots": [ + { + "name": "HelloRobot", + "cfg": "HelloRobotCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "HelloRobot.base_action", + "start": 0, + "end": 3, + "names": [ + 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{ + "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/N032/go2_arm/dr_off/seed_1050/check.json b/N032/go2_arm/dr_off/seed_1050/check.json new file mode 100644 index 0000000000000000000000000000000000000000..c79c853a766e24be318dc87a6c1fecd210f54b77 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1050/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": "1811 rows vs ceil(3622/2) = 1811" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..3721, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "15.85 MB, 1811 frames at 25 fps, mean luma 101..144, std 28, new picture 1810x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1811 vs 1811" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "33.14 MB, 1811 frames at 25 fps, mean luma 101..175, std 29, new picture 1810x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1811 vs 1811" + }, + "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_1050/check.txt b/N032/go2_arm/dr_off/seed_1050/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..ccda8f18ddd3d3d164374b6999686f5262045a73 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1050/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_go2_off_1050/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_go2_off_1050/out/rec/stationpuzzle/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1811 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: 1811 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 1811 at dataset fps 25 = 72.44 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1811 rows vs ceil(3622/2) = 1811 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..3721, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 15.85 MB, 1811 frames at 25 fps, mean luma 101..144, std 28, new picture 1810x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1811 vs 1811 +[PASS] video observation.images.wrist decodes, 640x480, not black: 33.14 MB, 1811 frames at 25 fps, mean luma 101..175, std 29, new picture 1810x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1811 vs 1811 +parquet size 6.98 MB +[PASS] sim_info present: rec/stationpuzzle/000/sim_info +dataset size 56.26 MB; whole cell dir 58.3 MB +RESULT: ALL PASS diff --git a/N032/go2_arm/dr_off/seed_1050/rec/stationpuzzle/000/completed/0.json b/N032/go2_arm/dr_off/seed_1050/rec/stationpuzzle/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..8ccdef7d6fe05159c409af74707fd6bc60bede10 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1050/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_1050/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/go2_arm/dr_off/seed_1050/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..bf9b55d00bacf309703fa2147145a66011fd7f8e --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1050/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:27197f1ca04c83114d063e60768639360f49c68ba53fb40d64c59b21a0e2ec36 +size 6984751 diff --git a/N032/go2_arm/dr_off/seed_1050/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl b/N032/go2_arm/dr_off/seed_1050/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2c44afa927b46550453409ffa323bb96a27bbce1 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1050/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": 1811, "magicsim/control_steps": 3622, "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 cand O. The gray board 0 is to the right of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is to the right of the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is to the right of the gray table B. The scene is viewed from front, at table height."} diff --git a/N032/go2_arm/dr_off/seed_1050/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/go2_arm/dr_off/seed_1050/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..be0a7ade601f2c5816c23fe444b8b986073c6e3a --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1050/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.16725191368537834, -0.0015960529000225282, 0.023761967890024233, 0.33778574791223154, 0.5607599966734039, 0.3956839798202441, 0.6351725808959321, 0.05290324453003231, -0.6150765405553339, 0.41370899938273203, 0.13393536335230696, 0.44947542794036444], "std": [0.1519143266296956, 0.023450839261709416, 0.32956915105748297, 0.02608814070532707, 1.264971651620969, 1.5081068322682192, 0.050810866832135766, 0.11681955939566657, 0.24934578173106345, 0.5893221483130882, 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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 cand O. The gray board 0 is to the right of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is to the right of the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is to the right 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": "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": 1.563658486577772, + "support": null + }, + "generic_instruction": "Stationpuzzle the 1.563658486577772.", + "task_id": "N032", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_1326": { + "frame_idx": 1326, + "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_1353": { + "frame_idx": 1353, + "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_1639": { + "frame_idx": 1639, + "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_1654": { + "frame_idx": 1654, + "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_1655": { + "frame_idx": 1655, + "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_1682": { + "frame_idx": 1682, + "caption": "Pre-grasping the small tile, moving the arm toward it; the right gripper is below and to the left of the tile.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1708": { + "frame_idx": 1708, + "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": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1770": { + "frame_idx": 1770, + "caption": "Closing the right gripper on the tile; the right gripper is below and to the left of the tile.", + "skill": "Grasp", + "phase": "close_gripper", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1830": { + "frame_idx": 1830, + "caption": "Lifting the tile away with the gripper; the right gripper is below and to the left of the tile.", + "skill": "Grasp", 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"planner_seeds": "lean" + } + ], + "error": null, + "collect": { + "task": "N032", + "robot": "go2_arm", + "visual_dr": false, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N032", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "0" + }, + "cameras": { + "head": { + "link": "Robot_0/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": 1198.5, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 32.9 + } +} diff --git a/N032/go2_arm/dr_on/seed_2051/check.json b/N032/go2_arm/dr_on/seed_2051/check.json new file mode 100644 index 0000000000000000000000000000000000000000..26a4745e6da8ff3f6236a4e0ca5d7c4704ae6852 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2051/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: '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": "1787 rows vs ceil(3574/2) = 1787" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..3673, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "36.15 MB, 1787 frames at 25 fps, mean luma 66..98, std 40, new picture 1786x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1787 vs 1787" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "51.47 MB, 1787 frames at 25 fps, mean luma 70..149, std 27, new picture 1786x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1787 vs 1787" + }, + "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_2051/check.txt b/N032/go2_arm/dr_on/seed_2051/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..a44e3df89cb590fcb6be09f795477255400c3242 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2051/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_go2_on_2051/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_go2_on_2051/out/rec/stationpuzzle/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1787 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: 1787 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 1787 at dataset fps 25 = 71.48 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1787 rows vs ceil(3574/2) = 1787 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..3673, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 36.15 MB, 1787 frames at 25 fps, mean luma 66..98, std 40, new picture 1786x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1787 vs 1787 +[PASS] video observation.images.wrist decodes, 640x480, not black: 51.47 MB, 1787 frames at 25 fps, mean luma 70..149, std 27, new picture 1786x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1787 vs 1787 +parquet size 7.02 MB +[PASS] sim_info present: rec/stationpuzzle/000/sim_info +dataset size 94.93 MB; whole cell dir 97.0 MB +RESULT: ALL PASS diff --git a/N032/go2_arm/dr_on/seed_2051/rec/stationpuzzle/000/completed/0.json b/N032/go2_arm/dr_on/seed_2051/rec/stationpuzzle/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..8ccdef7d6fe05159c409af74707fd6bc60bede10 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2051/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_2051/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/go2_arm/dr_on/seed_2051/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..dfae6c84f109832e858dd4253328e66878168805 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2051/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a845cf606a6f1044776b62ac3ecd5d6843fd2cde7572141ce495f03194d4540 +size 7023242 diff --git a/N032/go2_arm/dr_on/seed_2051/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl b/N032/go2_arm/dr_on/seed_2051/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b4f5dc82fc8e4782d7d299a90d2ad7f8f1ff372a --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2051/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": 1787, "magicsim/control_steps": 3574, "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 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 behind the gray table B. The scene is viewed from front, at table height."} diff --git a/N032/go2_arm/dr_on/seed_2051/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/go2_arm/dr_on/seed_2051/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3a6c20bf21bd75c8772343f6ba9f0211415ef364 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2051/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.16937467792015637, -0.0018282639603826275, 0.020477163527640615, 0.33770005017202126, 0.3722654212001455, 0.4397247707086631, 0.6348074260842687, 0.06343167729855051, -0.6095927777524494, 0.4591976862523765, 0.13176065224426614, 0.4437604924454393], "std": [0.15277689442766085, 0.019085705594202345, 0.32298213050559055, 0.02623957480415103, 1.4032905983649118, 1.4468890551502498, 0.05102353226190522, 0.11209012215152504, 0.23291717725439925, 0.5681113078733854, 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-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 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 behind the gray table B. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[cand O]e]\n\n\n\n [picture cap]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationPuzzle", + "instruction": "Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.", + "template_id": -1, + "slots": { + "obj": 1.4888611815466828, + "support": null + }, + "generic_instruction": "Stationpuzzle the 1.4888611815466828.", + "task_id": "N032", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_1313": { + "frame_idx": 1313, + "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_1339": { + "frame_idx": 1339, + "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_1633": { + "frame_idx": 1633, + "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_1648": { + "frame_idx": 1648, + "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_1649": { + "frame_idx": 1649, + "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_1702": { + "frame_idx": 1702, + "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_1734": { + "frame_idx": 1734, + "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_1764": { + "frame_idx": 1764, + "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_1824": { + "frame_idx": 1824, + "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_1825": { + "frame_idx": 1825, + "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_1887": { + "frame_idx": 1887, + "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, + 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b/N032/go2_arm/dr_on/seed_2051/rec/stationpuzzle/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,290 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 10:17:00" + }, + "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": { 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"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": 1015.9, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 27.5 + } +} diff --git a/N032/sawyer_umi/dr_off/seed_1051/check.json b/N032/sawyer_umi/dr_off/seed_1051/check.json new file mode 100644 index 0000000000000000000000000000000000000000..808a1deeef4b8246897506487d6132d432120382 --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1051/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": "2682 rows vs ceil(5364/2) = 2682" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5463, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "31.76 MB, 2682 frames at 25 fps, mean luma 99..150, std 27, new picture 2681x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2682 vs 2682" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "50.23 MB, 2682 frames at 25 fps, mean luma 110..177, std 26, new picture 2681x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2682 vs 2682" + }, + "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_1051/check.txt b/N032/sawyer_umi/dr_off/seed_1051/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..8b0c315bbd0e842dc1ea8e584d4c87c8cc2c2731 --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1051/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_saw_off_1051/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_saw_off_1051/out/rec/stationpuzzlexr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2682 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: 2682 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 2682 at dataset fps 25 = 107.28 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2682 rows vs ceil(5364/2) = 2682 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5463, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 31.76 MB, 2682 frames at 25 fps, mean luma 99..150, std 27, new picture 2681x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2682 vs 2682 +[PASS] video observation.images.wrist decodes, 640x480, not black: 50.23 MB, 2682 frames at 25 fps, mean luma 110..177, std 26, new picture 2681x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2682 vs 2682 +parquet size 3.59 MB +[PASS] sim_info present: rec/stationpuzzlexr/000/sim_info +dataset size 85.78 MB; whole cell dir 87.4 MB +RESULT: ALL PASS diff --git a/N032/sawyer_umi/dr_off/seed_1051/rec/stationpuzzlexr/000/completed/0.json b/N032/sawyer_umi/dr_off/seed_1051/rec/stationpuzzlexr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..0ea26fd1750065ae505310bf089fab096819eb7a --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1051/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_1051/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/sawyer_umi/dr_off/seed_1051/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..49785a6ca77c367695c327bfd18412cbdb8b70a2 --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1051/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3bfd78a8d9cf78b07d0338d07a06ee2c83cc7ace0b57f7a83c0d8682d3121258 +size 3586276 diff --git a/N032/sawyer_umi/dr_off/seed_1051/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes.jsonl b/N032/sawyer_umi/dr_off/seed_1051/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..21b6b4db038633b23332b1b3982bead49fad2608 --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1051/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": 2682, "magicsim/control_steps": 5364, "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 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_off/seed_1051/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/sawyer_umi/dr_off/seed_1051/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..05b43fead0be0c8ad6b273547e91a79e659335c6 --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1051/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.10607706305295185, -0.002336377099484183, 0.009701631166967012, 0.5701476180402313, 0.5743890861292369, 1.0430177831987584, 0.20911450399603976, 0.02259344361426613, 0.27245186836480273, 0.21572285441447003, 0.37770320656226697], "std": [0.13358290428651007, 0.014863788846145674, 0.23300405422697754, 1.3730090151674792, 1.5266831502235862, 0.29157888701627005, 0.5114116068875235, 0.2893714765767237, 0.39887984547772964, 0.5749880346268004, 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40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "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 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": 1.6354840987899086, + "support": null + }, + "generic_instruction": "Stationpuzzlexr the 1.6354840987899086.", + "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_1051/rec/stationpuzzlexr/000/lerobot_v21/meta/info.json b/N032/sawyer_umi/dr_off/seed_1051/rec/stationpuzzlexr/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..e1820ed5e74f33f0cca3be2e41cfac9c6aa4c322 --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1051/rec/stationpuzzlexr/000/lerobot_v21/meta/info.json @@ -0,0 +1,331 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 2682, + "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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+ "object_pose.cand_O.0", + "object_pose.cand_O.1", + "object_pose.cand_O.2", + "object_pose.cand_O.3", + "object_pose.cand_O.4", + "object_pose.cand_O.5", + "object_pose.cand_O.6", + "object_pose.picture.0", + "object_pose.picture.1", + "object_pose.picture.2", + "object_pose.picture.3", + "object_pose.picture.4", + "object_pose.picture.5", + "object_pose.picture.6", + "object_pose.picture_bar.0", + "object_pose.picture_bar.1", + "object_pose.picture_bar.2", + "object_pose.picture_bar.3", + "object_pose.picture_bar.4", + "object_pose.picture_bar.5", + "object_pose.picture_bar.6", + "object_pose.picture_cap.0", + "object_pose.picture_cap.1", + "object_pose.picture_cap.2", + "object_pose.picture_cap.3", + "object_pose.picture_cap.4", + "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": [ + 800 + ], + "names": null + }, + "action.applied": { + "dtype": "float32", + "shape": [ + 12 + ], + "names": null + }, + "narration": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "collect_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "extra.reward": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "extra.action_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "sim_step_idx": { + "dtype": 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"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/sawyer_umi/dr_off/seed_1051/rec/stationpuzzlexr/000/lerobot_v21/meta/magicsim_manifest.json b/N032/sawyer_umi/dr_off/seed_1051/rec/stationpuzzlexr/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..87b6fed2d562b45fc86e2461ede929179b990371 --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1051/rec/stationpuzzlexr/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,264 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 10:19:55" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + 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"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": 1073.1, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 30.3 + } +} diff --git a/N032/stretch3/dr_off/seed_1087/check.json b/N032/stretch3/dr_off/seed_1087/check.json new file mode 100644 index 0000000000000000000000000000000000000000..84de484f36e42c6afa8b5454b12d33bc1e4898f1 --- /dev/null +++ b/N032/stretch3/dr_off/seed_1087/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": "2621 rows vs ceil(5242/2) = 2621" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5341, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "27.41 MB, 2621 frames at 25 fps, mean luma 114..155, std 12, new picture 2620x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2621 vs 2621" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "58.87 MB, 2621 frames at 25 fps, mean luma 112..169, std 29, new picture 2620x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2621 vs 2621" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationpuzzlestretch/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N032/stretch3/dr_off/seed_1087/check.txt b/N032/stretch3/dr_off/seed_1087/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..9d9b5870cf6cbbc69ee2ea564c1983f7bad5ad1f --- /dev/null +++ b/N032/stretch3/dr_off/seed_1087/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_str_off_1087/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_str_off_1087/out/rec/stationpuzzlestretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2621 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: 2621 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 2621 at dataset fps 25 = 104.84 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2621 rows vs ceil(5242/2) = 2621 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5341, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 27.41 MB, 2621 frames at 25 fps, mean luma 114..155, std 12, new picture 2620x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2621 vs 2621 +[PASS] video observation.images.wrist decodes, 640x480, not black: 58.87 MB, 2621 frames at 25 fps, mean luma 112..169, std 29, new picture 2620x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2621 vs 2621 +parquet size 4.00 MB +[PASS] sim_info present: rec/stationpuzzlestretch/000/sim_info +dataset size 90.48 MB; whole cell dir 92.3 MB +RESULT: ALL PASS diff --git a/N032/stretch3/dr_off/seed_1087/rec/stationpuzzlestretch/000/completed/0.json b/N032/stretch3/dr_off/seed_1087/rec/stationpuzzlestretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..2b614a937da99960d58d2a321fefcbc4aa6cfa5e --- /dev/null +++ b/N032/stretch3/dr_off/seed_1087/rec/stationpuzzlestretch/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationpuzzlestretch/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N032/stretch3/dr_off/seed_1087/rec/stationpuzzlestretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/stretch3/dr_off/seed_1087/rec/stationpuzzlestretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..6af16a4d173b663fdd4e27d2f3255f24667442bf --- /dev/null +++ b/N032/stretch3/dr_off/seed_1087/rec/stationpuzzlestretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:486a93568bec8e550121a254f4a7eb7c6b2bfb5eda2d2df911c7113a4bf8975d +size 4004675 diff --git a/N032/stretch3/dr_off/seed_1087/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes.jsonl b/N032/stretch3/dr_off/seed_1087/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cab7e7ca12eddeeb1daa63087ea15158ec7548a0 --- /dev/null +++ b/N032/stretch3/dr_off/seed_1087/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": 2621, "magicsim/control_steps": 5242, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a small gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is 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 in front of the gray board 0. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is behind the gray table B. The scene is viewed from front, slightly above table height."} diff --git a/N032/stretch3/dr_off/seed_1087/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/stretch3/dr_off/seed_1087/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ea3d26eb8447003b04c83643057a81db2e22badb --- /dev/null +++ b/N032/stretch3/dr_off/seed_1087/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.03484390700184085, 0.0, 0.02646730269295814, 0.37891519032361876, 0.4665798889586342, 0.7060072847742563, -0.3185531820609149, -0.009810060156433827, -0.055888647623034575, 0.05945146731387018, 0.4070965280427318], "std": [0.17696228223625615, 0.0, 0.21103408897318798, 1.2400201275181846, 1.4115810537310076, 0.1523641393711938, 0.4998568562865848, 0.32082738399809896, 0.3787080014805286, 0.6289376682426702, 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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 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 2 is behind the gray board 4. The gray board 3 is in front of the gray board 0. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is behind the gray table B. The scene is viewed from front, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[cand O]]\n\n\n\n [[picture cap]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationPuzzleStretch", + "instruction": "Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.", + "template_id": -1, + "slots": { + "obj": 3.187252811678662, + "support": null + }, + "generic_instruction": "Stationpuzzlestretch the 3.187252811678662.", + "task_id": "N032", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": {} + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N032/stretch3/dr_off/seed_1087/rec/stationpuzzlestretch/000/lerobot_v21/meta/info.json b/N032/stretch3/dr_off/seed_1087/rec/stationpuzzlestretch/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..aa474f68757994190111df454d37f25187c49039 --- /dev/null +++ b/N032/stretch3/dr_off/seed_1087/rec/stationpuzzlestretch/000/lerobot_v21/meta/info.json @@ -0,0 +1,333 @@ +{ + "codebase_version": "v2.1", + "robot_type": "HelloRobotCfg", + "total_episodes": 1, + "total_frames": 2621, + "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": [ + 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": [ + 752 + ], + "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", + 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sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "HelloRobot.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HelloRobotBaseAction", + "names_source": "_joint_names" + }, + { + "name": "HelloRobot.arm_action", + "start": 3, + "end": 10, + "names": [ + "arm_action_0", + "arm_action_1", + "arm_action_2", + "arm_action_3", + "arm_action_4", + "arm_action_5", + "arm_action_6" + ], + "source": "HelloRobotIKAction", + "names_source": "fallback" + }, + { + "name": "HelloRobot.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "HelloRobot.joint_pos", + "start": 0, + "end": 15, + "names": [ + "dummy_base_prismatic_x_joint", + 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+ ], + "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": 1408.4, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 40.8 + } +} diff --git a/N033/go2_arm/dr_off/seed_1047/check.json b/N033/go2_arm/dr_off/seed_1047/check.json new file mode 100644 index 0000000000000000000000000000000000000000..e39d12c74a46696d9f57db6445f54818c7986690 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1047/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": "1420 rows vs ceil(2840/2) = 1420" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..2939, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "11.10 MB, 1420 frames at 25 fps, mean luma 111..139, std 16, new picture 1419x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1420 vs 1420" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "24.67 MB, 1420 frames at 25 fps, mean luma 105..163, std 29, new picture 1419x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1420 vs 1420" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationring/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1047/check.txt b/N033/go2_arm/dr_off/seed_1047/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..01e722f538bdb6450df73e9b3840d88b4d9d5a05 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1047/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_go2_off_1047/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_go2_off_1047/out/rec/stationring/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1420 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: 1420 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 1420 at dataset fps 25 = 56.80 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1420 rows vs ceil(2840/2) = 1420 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..2939, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 11.10 MB, 1420 frames at 25 fps, mean luma 111..139, std 16, new picture 1419x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1420 vs 1420 +[PASS] video observation.images.wrist decodes, 640x480, not black: 24.67 MB, 1420 frames at 25 fps, mean luma 105..163, std 29, new picture 1419x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1420 vs 1420 +parquet size 4.51 MB +[PASS] sim_info present: rec/stationring/000/sim_info +dataset size 40.56 MB; whole cell dir 42.0 MB +RESULT: ALL PASS diff --git a/N033/go2_arm/dr_off/seed_1047/rec/stationring/000/completed/0.json b/N033/go2_arm/dr_off/seed_1047/rec/stationring/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..c24e4e92ce410caf19b3ef731d95205d50917856 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1047/rec/stationring/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationring/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1047/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/go2_arm/dr_off/seed_1047/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..df3a04348711c1296f62f6265b8fdcca9c94e76d --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1047/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1155672f60d4b8b4fca8016d07edbe6aafe70d2c814a9c63410b3bb636ae37ea +size 4510336 diff --git a/N033/go2_arm/dr_off/seed_1047/rec/stationring/000/lerobot_v21/meta/episodes.jsonl b/N033/go2_arm/dr_off/seed_1047/rec/stationring/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..41d328658a41820bd6b1db4302964ad28bf31e46 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1047/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": 1420, "magicsim/control_steps": 2840, "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_off/seed_1047/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/go2_arm/dr_off/seed_1047/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..721339ab292537f31b79ee004f51539d82590a6d --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1047/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.13442564175897082, -0.0019324388204168686, 0.02038461265865792, 0.3542693852958545, 0.4517341488893603, 0.7652667142135996, 0.7012186078538357, 0.10110222345191829, -0.5448516829595179, 0.7900873228277958, 0.06961661312420865, 0.502112676056338], "std": [0.16127650500121446, 0.02190649989188492, 0.26514342324640194, 0.01675762342599581, 1.4854362767646287, 1.5960718529535864, 0.0462981566390556, 0.015631320847612398, 0.21840831354512008, 0.12275058375486192, 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positioned at the workspace, facing the brown rod stop. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is 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 [ring]]\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": 1.5383184932417875, + "support": null + }, + "generic_instruction": "Stationring the 1.5383184932417875.", + "task_id": "N033", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0478": { + "frame_idx": 478, + "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_0500": { + "frame_idx": 500, + "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_0624": { + "frame_idx": 624, + "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_0671": { + "frame_idx": 671, + "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_0761": { + "frame_idx": 761, + "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_0767": { + "frame_idx": 767, + "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_0781": { + "frame_idx": 781, + "caption": "Pre-grasping the small ring, servoing the arm toward it; the right gripper is below and in front of the ring.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_0782": { + "frame_idx": 782, + "caption": "Pre-grasping the small ring, moving the arm toward it; the right gripper is below and to the left of and in front of the ring.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0789": { + "frame_idx": 789, + "caption": "Pre-grasping the small ring, moving the arm toward it; the right gripper is below and in front of the ring.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_0819": { + "frame_idx": 819, + "caption": "Pre-grasping the small ring, moving the arm toward it; the right gripper is below the ring.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_0834": { + "frame_idx": 834, + "caption": "Grasping the small ring, moving the arm in to make contact; the right gripper is below the ring.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_0896": { + "frame_idx": 896, + "caption": "Closing the right gripper on the ring; the right gripper is below the ring.", + "skill": "Grasp", + "phase": "close_gripper", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_0956": { + "frame_idx": 956, + "caption": "Lifting the ring away with the gripper; the right gripper is below the ring.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "ParallelGripper", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_0957": { + "frame_idx": 957, + "caption": "Lifting the ring away with the arm; the right gripper is below the ring.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1017": { + "frame_idx": 1017, + "caption": "Done — the small 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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": 958.0, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 24.2 + } +} diff --git a/N033/go2_arm/dr_on/seed_2050/check.json b/N033/go2_arm/dr_on/seed_2050/check.json new file mode 100644 index 0000000000000000000000000000000000000000..92fec9560ae2e1ceaae0373ab74e54d682075ddc --- /dev/null +++ b/N033/go2_arm/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 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": "1362 rows vs ceil(2724/2) = 1362" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..2823, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "19.96 MB, 1362 frames at 25 fps, mean luma 59..101, std 51, new picture 1361x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1362 vs 1362" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "35.03 MB, 1362 frames at 25 fps, mean luma 102..185, std 32, new picture 1361x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1362 vs 1362" + }, + "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_2050/check.txt b/N033/go2_arm/dr_on/seed_2050/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..3a907e0e17ebf6c3382db9c3d48686a1f0d8456f --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2050/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_go2_on_2050/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_go2_on_2050/out/rec/stationring/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1362 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: 1362 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 1362 at dataset fps 25 = 54.48 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1362 rows vs ceil(2724/2) = 1362 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..2823, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 19.96 MB, 1362 frames at 25 fps, mean luma 59..101, std 51, new picture 1361x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1362 vs 1362 +[PASS] video observation.images.wrist decodes, 640x480, not black: 35.03 MB, 1362 frames at 25 fps, mean luma 102..185, std 32, new picture 1361x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1362 vs 1362 +parquet size 4.77 MB +[PASS] sim_info present: rec/stationring/000/sim_info +dataset size 60.03 MB; whole cell dir 61.4 MB +RESULT: ALL PASS diff --git a/N033/go2_arm/dr_on/seed_2050/rec/stationring/000/completed/0.json b/N033/go2_arm/dr_on/seed_2050/rec/stationring/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..c24e4e92ce410caf19b3ef731d95205d50917856 --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2050/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_2050/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/go2_arm/dr_on/seed_2050/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..80bc99bed1d662e4b358f0d427150d93526b89c9 --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2050/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f81fa158e0f369d69fbdc3338e4921e91e1e93a088d13813917c084da03abf7 +size 4770896 diff --git a/N033/go2_arm/dr_on/seed_2050/rec/stationring/000/lerobot_v21/meta/episodes.jsonl b/N033/go2_arm/dr_on/seed_2050/rec/stationring/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eb85878e852ea77f762d447986a07ebaf42128b0 --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2050/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": 1362, "magicsim/control_steps": 2724, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown rod stop. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is to the right of the brown rod stop. The brown rack back is in front of the gray peg 2. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is to the right of the brown rod stop. The brown rod stop is to the left of the white rod s. The scene is viewed from front, at table height."} diff --git a/N033/go2_arm/dr_on/seed_2050/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/go2_arm/dr_on/seed_2050/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cd39081801a326dd6bd50853dfd46c311bd9e340 --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2050/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.14403029045475738, 4.532191049028598e-06, 0.025626382175222704, 0.3536462924510197, 0.379466687650495, 0.5626238739109775, 0.690847847473954, 0.17146643895037725, -0.504953154487188, 0.8056367290877736, 0.11007369649387956, 0.4919236417033774], "std": [0.16263202190393236, 0.026684272558821318, 0.2460504084649921, 0.01667154815069564, 1.373963896089604, 1.6801272367050577, 0.03849557122885002, 0.05052215478669754, 0.19613985517971474, 0.10112751773671859, 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a/N033/go2_arm/dr_on/seed_2050/rec/stationring/000/lerobot_v21/meta/extra/episode_000000.json b/N033/go2_arm/dr_on/seed_2050/rec/stationring/000/lerobot_v21/meta/extra/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..6865694fc5d51ebb4e07d4f7127af16434da1ff5 --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2050/rec/stationring/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,667 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "RingCommand", + "subsample_every": 2, + "control_steps": 2724, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 3.6078142904520263, + 0.714482520758893, + -0.22340128419490385 + ], + "bbox": { + "extent": [ + 0.9403044001367588, + 0.5725479612396454, + 0.30000001192092896 + ], + "center": [ + 0.0, + 0.0, + 0.0 + ] 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"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 rod stop. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is to the right of the brown rod stop. The brown rack back is in front of the gray peg 2. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is to the right of the brown rod stop. The brown rod stop is to the left of the white rod s. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[rod stop]\n\n\n\n [ring small]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationRing", + "instruction": "Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.", + "template_id": -1, + "slots": { + "obj": 1.5304496564887522, + "support": null + }, + "generic_instruction": "Stationring the 1.5304496564887522.", + "task_id": "N033", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0523": { + "frame_idx": 523, + "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_0551": { + "frame_idx": 551, + "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_0839": { + "frame_idx": 839, + "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_0853": { + "frame_idx": 853, + "caption": "Pre-grasping the small ring, servoing the arm toward it; the right gripper 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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": 846.0, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 26.4 + } +} diff --git a/N033/sawyer_umi/dr_on/seed_2051/check.json b/N033/sawyer_umi/dr_on/seed_2051/check.json new file mode 100644 index 0000000000000000000000000000000000000000..d2f844eef2bb4b577af0f295c6ed250ebb8c2969 --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2051/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 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": "2178 rows vs ceil(4355/2) = 2178" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4455, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "55.72 MB, 2178 frames at 25 fps, mean luma 82..100, std 32, new picture 2177x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2178 vs 2178" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "47.84 MB, 2178 frames at 25 fps, mean luma 75..120, std 26, new picture 2177x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2178 vs 2178" + }, + "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_2051/check.txt b/N033/sawyer_umi/dr_on/seed_2051/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..ae1d7e46546d0add81069205cfb0abfcff1f22ff --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2051/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_saw_on_2051/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_saw_on_2051/out/rec/stationringxr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2178 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: 2178 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 2178 at dataset fps 25 = 87.12 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2178 rows vs ceil(4355/2) = 2178 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4455, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 55.72 MB, 2178 frames at 25 fps, mean luma 82..100, std 32, new picture 2177x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2178 vs 2178 +[PASS] video observation.images.wrist decodes, 640x480, not black: 47.84 MB, 2178 frames at 25 fps, mean luma 75..120, std 26, new picture 2177x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2178 vs 2178 +parquet size 2.68 MB +[PASS] sim_info present: rec/stationringxr/000/sim_info +dataset size 106.45 MB; whole cell dir 107.8 MB +RESULT: ALL PASS diff --git a/N033/sawyer_umi/dr_on/seed_2051/rec/stationringxr/000/completed/0.json b/N033/sawyer_umi/dr_on/seed_2051/rec/stationringxr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..91a50a443cc1602752f4a6179432b21f7f41bb42 --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2051/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_2051/rec/stationringxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/sawyer_umi/dr_on/seed_2051/rec/stationringxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..151883281ad6deb39cb138cbfad15d0371dad848 --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2051/rec/stationringxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82959a966d4aff80104fb2963f9cbf5af1814a7626a59ce3b4f26c3085138812 +size 2679161 diff --git a/N033/sawyer_umi/dr_on/seed_2051/rec/stationringxr/000/lerobot_v21/meta/episodes.jsonl b/N033/sawyer_umi/dr_on/seed_2051/rec/stationringxr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bbbf956ae9a5aaa83fe07e0f6a987cb45729426a --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2051/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": 2178, "magicsim/control_steps": 4355, "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 in front of the gray peg 2. The gray peg 2 is on top of the ring. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is to the right of the brown rod stop. The brown rod stop is to the left of the white rod s. The scene is viewed from front, at table height."} diff --git a/N033/sawyer_umi/dr_on/seed_2051/rec/stationringxr/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/sawyer_umi/dr_on/seed_2051/rec/stationringxr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ac28bc757f126bb2fda001ca5f405c89821c508f --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2051/rec/stationringxr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.0853330903944001, 0.0007244270233757267, 0.008314299083950257, 0.31923840950945304, 0.6981889440979949, 1.0439403747012574, -0.24440056474193506, -0.08551557483775858, -0.2637358395788131, 0.17430413509757559, 0.46648301193755737], "std": [0.11775519993167397, 0.010904006643557496, 0.14821532582330083, 1.4714216269936469, 1.5635627843880768, 0.20179611016971602, 0.6093398255572845, 0.12497857178367072, 0.5337664988529346, 0.40149156015878573, 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+ "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_robot": [ + 4.309894003152468, + 0.15235368797568719, + -0.020000046654111685 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + 0.0, + 1.0, + -1.4782795217992896e-16 + ], + [ + 1.0, + 0.0, + 2.5363269588459423e-17 + ], + [ + 2.5363269588459423e-17, + -1.4782795217992896e-16, + -1.0 + ] + ], + "t": [ + 4.4348384662715026e-18, + -0.05979999899864197, + 0.029999999329447746 + ] + } + } + ], + "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": [ + -3.4, + -2.2, + 0.05 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the ring. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is to the right of the brown rod stop. The brown rack back is in front of the gray peg 2. The gray peg 2 is on top of the ring. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is to the right of the brown rod stop. The brown rod stop is to the left of the white rod s. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[rod stop]\n\n\n\n [ring small]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationRingXR", + "instruction": "Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.", + "template_id": -1, + "slots": { + "obj": 1.4888611815466828, + "support": null + }, + "generic_instruction": "Stationringxr the 1.4888611815466828.", + "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_2051/rec/stationringxr/000/lerobot_v21/meta/info.json 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"/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": 1356.1, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 34.1 + } +} diff --git a/N034/go2_arm/dr_off/seed_1064/check.json b/N034/go2_arm/dr_off/seed_1064/check.json new file mode 100644 index 0000000000000000000000000000000000000000..75db86adecbb2f6041a2420e05d17bba9f8f15c9 --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1064/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 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": "1850 rows vs ceil(3700/2) = 1850" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..3799, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "19.85 MB, 1850 frames at 25 fps, mean luma 96..139, std 21, new picture 1849x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1850 vs 1850" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "30.05 MB, 1850 frames at 25 fps, mean luma 91..163, std 24, new picture 1849x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1850 vs 1850" + }, + "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_1064/check.txt b/N034/go2_arm/dr_off/seed_1064/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..707ee8d3c3d653cc5ea14df5323b0240feaa747c --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1064/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_go2_off_1064/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_go2_off_1064/out/rec/stationbookend/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1850 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: 1850 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 1850 at dataset fps 25 = 74.00 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1850 rows vs ceil(3700/2) = 1850 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..3799, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 19.85 MB, 1850 frames at 25 fps, mean luma 96..139, std 21, new picture 1849x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1850 vs 1850 +[PASS] video observation.images.wrist decodes, 640x480, not black: 30.05 MB, 1850 frames at 25 fps, mean luma 91..163, std 24, new picture 1849x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1850 vs 1850 +parquet size 6.76 MB +[PASS] sim_info present: rec/stationbookend/000/sim_info +dataset size 56.93 MB; whole cell dir 58.7 MB +RESULT: ALL PASS diff --git a/N034/go2_arm/dr_off/seed_1064/rec/stationbookend/000/completed/0.json b/N034/go2_arm/dr_off/seed_1064/rec/stationbookend/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..92774b53003e83bf90b8dbc14d938d81cff5769c --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1064/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_1064/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/go2_arm/dr_off/seed_1064/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..21b3cb7044d4d6a57f87f16bf859ea5af49f090c --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1064/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:423dcc078f5b81269d9f4e07337e4f97d6ff6e732102ff632b3405c75c7116e1 +size 6758518 diff --git a/N034/go2_arm/dr_off/seed_1064/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl b/N034/go2_arm/dr_off/seed_1064/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7d438dda4ce0470320534f485f1bfafca3ada375 --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1064/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": 1850, "magicsim/control_steps": 3700, "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 left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height."} diff --git a/N034/go2_arm/dr_off/seed_1064/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/go2_arm/dr_off/seed_1064/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9bf30005d117e7bff8034ad81dcc4c4f0231c2f2 --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1064/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.10673433321150573, -0.0020123838723914043, 0.016585740941337537, 0.3260107162675342, 0.8350832153655388, 1.3607526785155406, 0.651930087837013, 0.09558003710208436, -0.46463784198629093, 0.8328636169433594, 0.06410486680418143, 0.6724324324324324], "std": [0.13439119541713201, 0.01708582769718969, 0.22001027315046318, 0.032034700535541104, 1.258329708297646, 1.7720967925667974, 0.05829466717062792, 0.04303999931710342, 0.2490161798909816, 0.10976404751968437, 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There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[[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": 1.532155236790033, + "support": null + }, + "generic_instruction": "Stationbookend the 1.532155236790033.", + "task_id": "N034", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0527": { + "frame_idx": 527, + "caption": "Computing a grasp pose for the small red book; the right gripper is below and to the left of and in front of the red book.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + 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"/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": 1800.6, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 31.0 + } +} diff --git a/N034/go2_arm/dr_on/seed_2069/check.json b/N034/go2_arm/dr_on/seed_2069/check.json new file mode 100644 index 0000000000000000000000000000000000000000..91dd6e7796cd07a38d27e6fd49a2b6c6ee242608 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2069/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": "2056 rows vs ceil(4112/2) = 2056" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4211, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "36.54 MB, 2056 frames at 25 fps, mean luma 66..100, std 40, new picture 2055x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2056 vs 2056" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "28.81 MB, 2056 frames at 25 fps, mean luma 72..140, std 22, new picture 2055x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2056 vs 2056" + }, + "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_2069/check.txt b/N034/go2_arm/dr_on/seed_2069/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..36798b22011bd6f09f85c7270463164090ec4322 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2069/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_go2_on_2069/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_go2_on_2069/out/rec/stationbookend/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2056 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: 2056 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 2056 at dataset fps 25 = 82.24 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2056 rows vs ceil(4112/2) = 2056 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4211, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 36.54 MB, 2056 frames at 25 fps, mean luma 66..100, std 40, new picture 2055x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2056 vs 2056 +[PASS] video observation.images.wrist decodes, 640x480, not black: 28.81 MB, 2056 frames at 25 fps, mean luma 72..140, std 22, new picture 2055x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2056 vs 2056 +parquet size 7.38 MB +[PASS] sim_info present: rec/stationbookend/000/sim_info +dataset size 72.99 MB; whole cell dir 74.8 MB +RESULT: ALL PASS diff --git a/N034/go2_arm/dr_on/seed_2069/rec/stationbookend/000/completed/0.json b/N034/go2_arm/dr_on/seed_2069/rec/stationbookend/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..92774b53003e83bf90b8dbc14d938d81cff5769c --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2069/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_2069/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/go2_arm/dr_on/seed_2069/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..26657410f1f072396ebb68466f999b454d6b9964 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2069/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:62b55c4fcf9b54c94504d890a0656b02d2467ec6904389f7d99e8146ade31717 +size 7375327 diff --git a/N034/go2_arm/dr_on/seed_2069/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl b/N034/go2_arm/dr_on/seed_2069/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8805410dba76ecc5a21b774059a00c2697f0fe48 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2069/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": 2056, "magicsim/control_steps": 4112, "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_2069/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/go2_arm/dr_on/seed_2069/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..79545e9394d964ee9c47e11de4f05d23719f0a67 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2069/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.09282324758198851, -0.0012907256881420134, 0.013407413976729924, 0.3221892709282122, 0.8844950237539724, 1.3249249153984313, 0.6450786236456164, 0.10262765217697756, -0.4514611776635515, 0.8352766412995205, 0.06531975887959746, 0.7008754863813229], "std": [0.1294428154250519, 0.016647866086829912, 0.21165197690837956, 0.03243556723200171, 1.2889698858740075, 1.6794090120940421, 0.05829919617928538, 0.05020870292013919, 0.261997082754398, 0.10590475611079488, 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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[[[bookend]\n\n\n\n [slo[book]t]\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": 1.496519164238989, + "support": null + }, + "generic_instruction": "Stationbookend the 1.496519164238989.", + "task_id": "N034", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0483": { + "frame_idx": 483, + "caption": "Computing a grasp pose for the small red book; the right gripper is below and to the left of and in front of the red book.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + 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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_0814": { + "frame_idx": 814, + "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_0849": { + "frame_idx": 849, + "caption": "Pre-grasping the small red book, moving the arm toward it; the right gripper is below and to the left of the red book.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + 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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_3278": { + "frame_idx": 3278, + "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_3326": { + "frame_idx": 3326, + "caption": "Working on the small bookend; the right gripper is below and to the left of and behind the bookend.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "bookend_1", + "hand_id": 0, + 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'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": "2734 rows vs ceil(5468/2) = 2734" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5567, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "30.61 MB, 2734 frames at 25 fps, mean luma 74..149, std 31, new picture 2733x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2734 vs 2734" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "49.10 MB, 2734 frames at 25 fps, mean luma 93..152, std 29, new picture 2733x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2734 vs 2734" + }, + "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_1072/check.txt b/N034/sawyer_umi/dr_off/seed_1072/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..e8a815fd975a1d350c1e181c89fabe01ef78c951 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1072/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_saw_off_1072/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_saw_off_1072/out/rec/stationbookendxr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2734 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: 2734 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 2734 at dataset fps 25 = 109.36 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2734 rows vs ceil(5468/2) = 2734 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5567, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 30.61 MB, 2734 frames at 25 fps, mean luma 74..149, std 31, new picture 2733x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2734 vs 2734 +[PASS] video observation.images.wrist decodes, 640x480, not black: 49.10 MB, 2734 frames at 25 fps, mean luma 93..152, std 29, new picture 2733x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2734 vs 2734 +parquet size 2.64 MB +[PASS] sim_info present: rec/stationbookendxr/000/sim_info +dataset size 82.53 MB; whole cell dir 83.9 MB +RESULT: ALL PASS diff --git a/N034/sawyer_umi/dr_off/seed_1072/rec/stationbookendxr/000/completed/0.json b/N034/sawyer_umi/dr_off/seed_1072/rec/stationbookendxr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..2218f14552b5319a4951e60bfd54adf3df3cac5e --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1072/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_1072/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/sawyer_umi/dr_off/seed_1072/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..8d38cfe3524e4daff8bfb8b7d60e0acf766e2a95 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1072/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:d85eb3bb944cfd7a97b89ff1910b3b5d3c00e1330b464eaca39078727dba4f13 +size 2637831 diff --git a/N034/sawyer_umi/dr_off/seed_1072/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl b/N034/sawyer_umi/dr_off/seed_1072/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..16f0421e45008d396513f97e8f57d158e793ac2e --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1072/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": 2734, "magicsim/control_steps": 5468, "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_1072/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/sawyer_umi/dr_off/seed_1072/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a2c2cdfe49a83053af0581b9bbd1b664440bb46e --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1072/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.06589812535421968, 0.0001985197116967615, 0.007301544483477521, 0.6018896137133252, 0.9781220807293982, 0.9215530081438861, 0.011241570641726102, -0.1336671391300361, 0.0010129631335670625, 0.20612398769921775, 0.6057059253840527], "std": [0.12101617895740657, 0.015446100622372954, 0.14765787006065637, 1.4165638676083012, 1.5140563329325312, 0.24358117249200353, 0.2782508656741882, 0.6099813852722457, 0.18355473118871568, 0.6755185130027737, 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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 left. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[ta[pla[bookend]\n\n\n\n [slot [book]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationBookendXR", + "instruction": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.", + "template_id": -1, + "slots": { + "obj": 1.5291768939664492, + "support": null + }, + "generic_instruction": "Stationbookendxr the 1.5291768939664492.", + "task_id": "N034", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": {} + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1072/rec/stationbookendxr/000/lerobot_v21/meta/info.json b/N034/sawyer_umi/dr_off/seed_1072/rec/stationbookendxr/000/lerobot_v21/meta/info.json 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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": 1231.6, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 41.4 + } +} diff --git a/N034/sawyer_umi/dr_on/seed_2058/check.json b/N034/sawyer_umi/dr_on/seed_2058/check.json index c8a01d5d7803e4626e849bc2d847555d95dd0315..adaf3857496f3d41ae9d86d4ad9aa57c0a1cfe2a 100644 --- a/N034/sawyer_umi/dr_on/seed_2058/check.json +++ b/N034/sawyer_umi/dr_on/seed_2058/check.json @@ -27,27 +27,27 @@ }, "rows = recorded control steps / 2 (= episode length at 25 Hz)": { "pass": true, - "detail": "2117 rows vs ceil(4234/2) = 2117" + "detail": "2126 rows vs ceil(4251/2) = 2126" }, "rows are every 2nd control step (sim_step_idx)": { "pass": true, - "detail": "sim_step_idx 101..4333, step differences [2]" + "detail": "sim_step_idx 101..4351, step differences [2]" }, "video observation.images.head decodes, 640x480, not black": { "pass": true, - "detail": "68.75 MB, 2117 frames at 25 fps, mean luma 83..123, std 39, new picture 2116x = 25.0 per s" + "detail": "68.96 MB, 2126 frames at 25 fps, mean luma 83..123, std 39, new picture 2125x = 25.0 per s" }, "video observation.images.head frames = parquet rows": { "pass": true, - "detail": "2117 vs 2117" + "detail": "2126 vs 2126" }, "video observation.images.wrist decodes, 640x480, not black": { "pass": true, - "detail": "55.83 MB, 2117 frames at 25 fps, mean luma 85..139, std 37, new picture 2116x = 25.0 per s" + "detail": "56.11 MB, 2126 frames at 25 fps, mean luma 85..139, std 37, new picture 2125x = 25.0 per s" }, "video observation.images.wrist frames = parquet rows": { "pass": true, - "detail": "2117 vs 2117" + "detail": "2126 vs 2126" }, "sim_info present": { "pass": true, diff --git a/N034/sawyer_umi/dr_on/seed_2058/check.txt b/N034/sawyer_umi/dr_on/seed_2058/check.txt index bc0d1ff281fce5f73227e6ed24cd949ec0388282..78abe4ab4b69f40e25997131590b4b9e674de100 100644 --- a/N034/sawyer_umi/dr_on/seed_2058/check.txt +++ b/N034/sawyer_umi/dr_on/seed_2058/check.txt @@ -1,21 +1,21 @@ collect dataset check cell=/mnt/scratch/xc536_atomic/n034_saw_on_2058_r1/out task=N034 at verify_collect_dataset.py -dataset root /mnt/scratch/xc536_atomic/n034_saw_on_2058_r1/out/rec/stationbookendxr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2117 videos 2 robot_type RidgebackSawyerUmiCfg +dataset root /mnt/scratch/xc536_atomic/n034_saw_on_2058_r1/out/rec/stationbookendxr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2126 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: 2117 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +--- episode file episode_000000.parquet: 2126 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 2117 at dataset fps 25 = 84.68 s -[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2117 rows vs ceil(4234/2) = 2117 -[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4333, step differences [2] -[PASS] video observation.images.head decodes, 640x480, not black: 68.75 MB, 2117 frames at 25 fps, mean luma 83..123, std 39, new picture 2116x = 25.0 per s -[PASS] video observation.images.head frames = parquet rows: 2117 vs 2117 -[PASS] video observation.images.wrist decodes, 640x480, not black: 55.83 MB, 2117 frames at 25 fps, mean luma 85..139, std 37, new picture 2116x = 25.0 per s -[PASS] video observation.images.wrist frames = parquet rows: 2117 vs 2117 -parquet size 2.38 MB +rows 2126 at dataset fps 25 = 85.04 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2126 rows vs ceil(4251/2) = 2126 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4351, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 68.96 MB, 2126 frames at 25 fps, mean luma 83..123, std 39, new picture 2125x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2126 vs 2126 +[PASS] video observation.images.wrist decodes, 640x480, not black: 56.11 MB, 2126 frames at 25 fps, mean luma 85..139, std 37, new picture 2125x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2126 vs 2126 +parquet size 2.37 MB [PASS] sim_info present: rec/stationbookendxr/000/sim_info -dataset size 127.16 MB; whole cell dir 128.3 MB +dataset size 127.64 MB; whole cell dir 128.8 MB RESULT: ALL PASS diff --git a/N034/sawyer_umi/dr_on/seed_2058/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/sawyer_umi/dr_on/seed_2058/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet index 0d31a3d21d4959d01b8ce77714a2a060157ca2f8..6ecb3568946c3f94caa1108a6ba3562cbe5ad810 100644 --- a/N034/sawyer_umi/dr_on/seed_2058/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet +++ b/N034/sawyer_umi/dr_on/seed_2058/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c5875370bff1eaf8b514c9879b52ca578f20e30eba649e960d094161540d2a3c -size 2375299 +oid sha256:0e9a655c8d1a31ed3ce7e80e69970ebf5900802c8190720fb5e1cc5cc11abf52 +size 2373777 diff --git a/N034/sawyer_umi/dr_on/seed_2058/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl b/N034/sawyer_umi/dr_on/seed_2058/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl index d4e7860f774b3cfbc2d068d8f249fb251e08fa63..b6a227b1e80a5c838959793bee00f0f479996e67 100644 --- a/N034/sawyer_umi/dr_on/seed_2058/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl +++ b/N034/sawyer_umi/dr_on/seed_2058/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl @@ -1 +1 @@ -{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 2117, "magicsim/control_steps": 4234, "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 behind the bookend. The bookend is in front of the gray plate. The scene is viewed from front, at table height."} +{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 2126, "magicsim/control_steps": 4251, "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 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 behind the bookend. The bookend is in front of the gray plate. The scene is viewed from front, at table height."} diff --git a/N034/sawyer_umi/dr_on/seed_2058/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/sawyer_umi/dr_on/seed_2058/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl index 8c5727e6db5626e2c19b1ed3945dbc6bfc2b88ce..5becab5403f5faac0c94da745f135b6119a9f4e7 100644 --- a/N034/sawyer_umi/dr_on/seed_2058/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl +++ b/N034/sawyer_umi/dr_on/seed_2058/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -1 +1 @@ -{"episode_index": 0, "stats": {"action": {"mean": [0.08430783751776577, 0.0012301814075459075, 0.009824945886965171, 0.538659819607246, 1.0475462625893321, 0.9300466910476216, 0.06262705375404785, -0.544815080162062, 0.11658407448200148, 0.7154133292121824, 0.6287198866320265], "std": [0.13102587244120942, 0.011089890377816792, 0.15508596341223285, 1.264694284762431, 1.7666256948667705, 0.24967148023523617, 0.24347234905606407, 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b/N034/sawyer_umi/dr_on/seed_2058/rec/stationbookendxr/000/lerobot_v21/meta/extra/episode_000000.json index f3ef491b9ec3ea8e4f3f08af913c4833cfa22dfc..34e149dbb745c3f9e97405921b2f9c1571a141cf 100644 --- a/N034/sawyer_umi/dr_on/seed_2058/rec/stationbookendxr/000/lerobot_v21/meta/extra/episode_000000.json +++ b/N034/sawyer_umi/dr_on/seed_2058/rec/stationbookendxr/000/lerobot_v21/meta/extra/episode_000000.json @@ -4,7 +4,7 @@ "env_id": 0, "task_type": "BookendXRCommand", "subsample_every": 2, - "control_steps": 4234, + "control_steps": 4251, "language": { "scene": { "objects": [ @@ -126,20 +126,20 @@ "material": null, "category": "rigid", "pos": [ - 3.366510991927191, - 0.21189367359638805, - 0.3499998516530125 + 3.3665114923240567, + 0.21189347129587868, + 0.35000003046695405 ], "bbox": { "extent": [ - 0.10389986091581152, - 0.046143461212084416, - 0.14000037127180498 + 0.1039001370933128, + 0.046142845405801616, + 0.14000031599884583 ], "center": [ - 1.0408340855860843e-17, - 2.949029909160572e-17, - 5.551115123125783e-17 + 1.734723475976807e-17, + -2.2551405187698492e-17, + -2.7755575615628914e-17 ] } }, @@ -180,20 +180,20 @@ "material": null, "category": "rigid", "pos": [ - 6.964460185945855, - 2.133477708836682, - 0.2800001391294987 + 6.964460299170318, + 2.133477918654794, + 0.28000007952485484 ], "bbox": { "extent": [ - 0.13341257130747164, - 0.09435435082908689, - 0.06000020256169275 + 0.1334126494525256, + 0.09435440393617198, + 0.060000119571300026 ], "center": [ - -2.8769328169753194e-09, - -0.029999969021641384, - 0.029999999569692543 + 7.876070143297831e-09, + -0.029999992138780143, + 0.029999999569724378 ] } } @@ -212,7 +212,7 @@ { "subject": "book_1", "relation": "on_top_of", - "object": "slot_left_1" + "object": "slot_right_1" }, { "subject": "plate_1", @@ -381,7 +381,7 @@ "ambient": "dim" }, "effects": [], - "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the brown slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot 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 behind the bookend. The bookend is in front of the gray plate. The scene is viewed from front, at table height.", + "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper 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 behind the bookend. The bookend is in front of the gray plate. The scene is viewed from front, at table height.", "layout_ascii": " +x forward / +y left (top-down view)\n[[[bookend]\n\n\n\n [slot [book]\n\n\n\n [robot]" }, "task": { diff --git a/N034/sawyer_umi/dr_on/seed_2058/rec/stationbookendxr/000/lerobot_v21/meta/info.json b/N034/sawyer_umi/dr_on/seed_2058/rec/stationbookendxr/000/lerobot_v21/meta/info.json index a9664cd3653c464071186cd22acf11f8828fe796..ffe0e00a101947c26d13e2db81eebfd3bb51eb87 100644 --- a/N034/sawyer_umi/dr_on/seed_2058/rec/stationbookendxr/000/lerobot_v21/meta/info.json +++ b/N034/sawyer_umi/dr_on/seed_2058/rec/stationbookendxr/000/lerobot_v21/meta/info.json @@ -2,7 +2,7 @@ "codebase_version": "v2.1", "robot_type": "RidgebackSawyerUmiCfg", "total_episodes": 1, - "total_frames": 2117, + "total_frames": 2126, "total_tasks": 1, "total_videos": 2, "total_chunks": 1, diff --git a/N034/sawyer_umi/dr_on/seed_2058/rec/stationbookendxr/000/lerobot_v21/meta/magicsim_manifest.json b/N034/sawyer_umi/dr_on/seed_2058/rec/stationbookendxr/000/lerobot_v21/meta/magicsim_manifest.json index a190e74fbc5473f340e27526c70389723491da4a..9f6667e071c278167ce76dcde98b815852acd946 100644 --- a/N034/sawyer_umi/dr_on/seed_2058/rec/stationbookendxr/000/lerobot_v21/meta/magicsim_manifest.json +++ b/N034/sawyer_umi/dr_on/seed_2058/rec/stationbookendxr/000/lerobot_v21/meta/magicsim_manifest.json @@ -1,7 +1,7 @@ { "schema_version": 1, "generated": { - "time": "2026-11-08 09:53:29" + "time": "2026-11-08 10:10:55" }, "embodiment": { "robots": [ diff --git a/N034/sawyer_umi/dr_on/seed_2058/rec/stationbookendxr/000/lerobot_v21/meta/stats.json b/N034/sawyer_umi/dr_on/seed_2058/rec/stationbookendxr/000/lerobot_v21/meta/stats.json index 9043896f12504994298adcb39516c0e1de598477..5edb46e715a79c41e486f67881a84281342c4cdc 100644 --- a/N034/sawyer_umi/dr_on/seed_2058/rec/stationbookendxr/000/lerobot_v21/meta/stats.json +++ 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"leave_station", "station": "A", "xy": [ - 0.906, - 0.407 + 0.907, + 0.409 ] }, { - "tick": 2596, + "tick": 2614, "event": "enter_station", "station": "B", "xy": [ 1.504, - 1.798 + 1.8 ] } ], @@ -961,7 +966,7 @@ "fail_class_hint": null, "distance_to_first_interaction": 2.18, "interstation_path_lengths": [ - 4.521 + 4.531 ], "station_transition_order": [ "A", @@ -969,12 +974,12 @@ ], "final_approach_pose": [ 1.639, - 2.233, + 2.234, 1.358 ], "regrasp_events": 0, - "control_ticks": 3744, - "wall_s": 687.8, + "control_ticks": 3761, + "wall_s": 724.1, "phase": "done", "state": "success: task sequence complete", "check": { @@ -988,8 +993,8 @@ "upright_deg": 0.0, "rest_z": true, "gaps": { - "plate": 0.003, - "bookend": -0.0019 + "plate": 0.0036, + "bookend": -0.0012 }, "pushed": true, "released": true, @@ -1000,7 +1005,7 @@ "A", "B" ], - "total_path_m": 7.16, + "total_path_m": 7.17, "planner_seeds": "default" } ], @@ -1086,11 +1091,11 @@ "/robot_state[0]/RidgebackSawyerUmi/joint_vel:(1, 13):torch.float32" ], "n_success": 1, - "elapsed_s": 958.9, + "elapsed_s": 986.5, "record_drain": { "drain_ok": true, "committed": 1, "save_errors": {}, - "drain_s": 35.8 + "drain_s": 61.0 } } diff --git a/N034/stretch3/dr_off/seed_1174/check.json b/N034/stretch3/dr_off/seed_1174/check.json new file mode 100644 index 0000000000000000000000000000000000000000..e8d45638cf5294d28a651c7017f93c1eed0a367a --- /dev/null +++ b/N034/stretch3/dr_off/seed_1174/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": "3285 rows vs ceil(6570/2) = 3285" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..6669, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "31.62 MB, 3285 frames at 25 fps, mean luma 114..155, std 11, new picture 3284x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "3285 vs 3285" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "62.00 MB, 3285 frames at 25 fps, mean luma 117..162, std 26, new picture 3284x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "3285 vs 3285" + }, + "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_1174/check.txt b/N034/stretch3/dr_off/seed_1174/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..586121ae30c5ab2f2c721669e8062817cdbfb5ea --- /dev/null +++ b/N034/stretch3/dr_off/seed_1174/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_str_off_1174/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_str_off_1174/out/rec/stationbookendstretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 3285 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: 3285 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 3285 at dataset fps 25 = 131.40 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3285 rows vs ceil(6570/2) = 3285 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..6669, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 31.62 MB, 3285 frames at 25 fps, mean luma 114..155, std 11, new picture 3284x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 3285 vs 3285 +[PASS] video observation.images.wrist decodes, 640x480, not black: 62.00 MB, 3285 frames at 25 fps, mean luma 117..162, std 26, new picture 3284x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 3285 vs 3285 +parquet size 3.46 MB +[PASS] sim_info present: rec/stationbookendstretch/000/sim_info +dataset size 97.29 MB; whole cell dir 99.0 MB +RESULT: ALL PASS diff --git a/N034/stretch3/dr_off/seed_1174/rec/stationbookendstretch/000/completed/0.json b/N034/stretch3/dr_off/seed_1174/rec/stationbookendstretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..565ef5f65941ce16df1aafe3e0687de9fab4723e --- /dev/null +++ b/N034/stretch3/dr_off/seed_1174/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_1174/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/stretch3/dr_off/seed_1174/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..1c99f9633692443f7e4e57adb7dbea89156cf098 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1174/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6232c838e7726e2e9085cb69031988050c6d643b6a47b7fc0249b1c20c4a8402 +size 3463312 diff --git a/N034/stretch3/dr_off/seed_1174/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl b/N034/stretch3/dr_off/seed_1174/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c0c468b9e5c2eff3e6c9768e5ca0a5e696596c0b --- /dev/null +++ b/N034/stretch3/dr_off/seed_1174/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": 3285, "magicsim/control_steps": 6570, "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_off/seed_1174/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/stretch3/dr_off/seed_1174/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9fe0644e848b6ecdec6061fb05743ec4a8210c1d --- /dev/null +++ b/N034/stretch3/dr_off/seed_1174/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [-0.00931469186703863, 0.0, 0.01824119663152339, 1.0328277710411284, 1.7404446386883838, 0.6060350339978797, -0.3452537523262214, 0.020393561763739992, -0.2367255416016221, -0.06355698465106865, 0.7184170471841704], "std": [0.12466074667344242, 0.0, 0.12531673491981318, 1.2889216610553935, 1.6897406323075719, 0.19215633049194922, 0.5128488889708779, 0.3684838509351439, 0.4543420829794717, 0.4637719133132695, 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gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the brown slot right. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot 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[pl[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": 3.0191233767614154, + "support": null + }, + "generic_instruction": "Stationbookendstretch the 3.0191233767614154.", + "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_1174/rec/stationbookendstretch/000/lerobot_v21/meta/info.json b/N034/stretch3/dr_off/seed_1174/rec/stationbookendstretch/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..856c065356fc7a870d28ac86b0368bfdf3b2a764 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1174/rec/stationbookendstretch/000/lerobot_v21/meta/info.json @@ -0,0 +1,298 @@ +{ + "codebase_version": "v2.1", + "robot_type": "HelloRobotCfg", + "total_episodes": 1, + "total_frames": 3285, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "arm_action_0", + "arm_action_1", + "arm_action_2", + "arm_action_3", + "arm_action_4", + "arm_action_5", + "arm_action_6", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 11 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 15 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 15 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 49 + ], + "names": [ + "object_pose.book.0", + "object_pose.book.1", + "object_pose.book.2", + "object_pose.book.3", + "object_pose.book.4", + "object_pose.book.5", + "object_pose.book.6", + "object_pose.bookend.0", + "object_pose.bookend.1", + "object_pose.bookend.2", + "object_pose.bookend.3", + "object_pose.bookend.4", + "object_pose.bookend.5", + "object_pose.bookend.6", + "object_pose.plate.0", + "object_pose.plate.1", + "object_pose.plate.2", + "object_pose.plate.3", + "object_pose.plate.4", + "object_pose.plate.5", + "object_pose.plate.6", + "object_pose.slot_left.0", + "object_pose.slot_left.1", + "object_pose.slot_left.2", + "object_pose.slot_left.3", + "object_pose.slot_left.4", + "object_pose.slot_left.5", + 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"video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N034/stretch3/dr_off/seed_1174/rec/stationbookendstretch/000/lerobot_v21/meta/magicsim_manifest.json b/N034/stretch3/dr_off/seed_1174/rec/stationbookendstretch/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..b6f0cca8ae1fc18d33bfa97411c9521b3ebc503d --- /dev/null +++ b/N034/stretch3/dr_off/seed_1174/rec/stationbookendstretch/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 10:13:25" + }, + "embodiment": { + "robots": [ + { + "name": "HelloRobot", + "cfg": "HelloRobotCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "HelloRobot.base_action", + "start": 0, + "end": 3, + "names": [ + 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"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": 1456.3, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 46.6 + } +} diff --git a/N034/stretch3/dr_on/seed_2124/check.json b/N034/stretch3/dr_on/seed_2124/check.json new file mode 100644 index 0000000000000000000000000000000000000000..1a51191c782536635dac7ca98ae5a2b88d4e9349 --- /dev/null +++ b/N034/stretch3/dr_on/seed_2124/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": "3349 rows vs ceil(6698/2) = 3349" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..6797, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "89.16 MB, 3349 frames at 25 fps, mean luma 84..174, std 21, new picture 3348x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "3349 vs 3349" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "85.59 MB, 3349 frames at 25 fps, mean luma 93..173, std 31, new picture 3348x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "3349 vs 3349" + }, + "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_2124/check.txt b/N034/stretch3/dr_on/seed_2124/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..75b1b67cda5bfc840250c2c466b97b9a72d0e30c --- /dev/null +++ b/N034/stretch3/dr_on/seed_2124/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_str_on_2124/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_str_on_2124/out/rec/stationbookendstretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 3349 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: 3349 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 3349 at dataset fps 25 = 133.96 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3349 rows vs ceil(6698/2) = 3349 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..6797, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 89.16 MB, 3349 frames at 25 fps, mean luma 84..174, std 21, new picture 3348x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 3349 vs 3349 +[PASS] video observation.images.wrist decodes, 640x480, not black: 85.59 MB, 3349 frames at 25 fps, mean luma 93..173, std 31, new picture 3348x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 3349 vs 3349 +parquet size 4.04 MB +[PASS] sim_info present: rec/stationbookendstretch/000/sim_info +dataset size 179.00 MB; whole cell dir 180.9 MB +RESULT: ALL PASS diff --git a/N034/stretch3/dr_on/seed_2124/rec/stationbookendstretch/000/completed/0.json b/N034/stretch3/dr_on/seed_2124/rec/stationbookendstretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..565ef5f65941ce16df1aafe3e0687de9fab4723e --- /dev/null +++ b/N034/stretch3/dr_on/seed_2124/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_2124/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/stretch3/dr_on/seed_2124/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..45ca2a88145d9f74f58cf175f9677949b97538bc --- /dev/null +++ b/N034/stretch3/dr_on/seed_2124/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:e2682bd46ab5969ff9322013a2ec283b3294bef070a1b73bc84f4dc90c6b14a3 +size 4043821 diff --git a/N034/stretch3/dr_on/seed_2124/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl b/N034/stretch3/dr_on/seed_2124/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9dbc30852e1629a084341b0fd41ea71e386b53a1 --- /dev/null +++ b/N034/stretch3/dr_on/seed_2124/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": 3349, "magicsim/control_steps": 6698, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the brown slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is on top of the bookend. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, slightly above table height."} diff --git a/N034/stretch3/dr_on/seed_2124/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/stretch3/dr_on/seed_2124/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bdf0ba57dd680e99947399503bbc93da5fb14668 --- /dev/null +++ b/N034/stretch3/dr_on/seed_2124/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.0474179610345823, 0.0, 0.0179921173199702, 1.1163372711908928, 1.4105896003884713, 0.6304560856219013, -0.49823042761704645, 0.025703100556230853, -0.3641218796955369, -0.02993965234975006, 0.7237981487011048], "std": [0.1172588561594865, 0.0, 0.2306879038059181, 1.4328384652697126, 1.7929755150769315, 0.20144420214426853, 0.4359714944908327, 0.3116107320449389, 0.40483862074424387, 0.40811505825046523, 0.4471178688421805], 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There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is on top of the bookend. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[[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": 3.2558330527764565, + "support": null + }, + "generic_instruction": "Stationbookendstretch the 3.2558330527764565.", + "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_2124/rec/stationbookendstretch/000/lerobot_v21/meta/info.json 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