add N034/stretch3/dr_on/seed_2002

N034/stretch3/dr_on/seed_2002/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": "3399 rows vs ceil(6797/2) = 3399"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 101..6897, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "79.26 MB, 3399 frames at 25 fps, mean luma 103..157, std 19, new picture 3398x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "3399 vs 3399"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "73.79 MB, 3399 frames at 25 fps, mean luma 112..152, std 28, new picture 3398x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "3399 vs 3399"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "rec/stationbookendstretch/000/sim_info"
+  }
+ }
+}

N034/stretch3/dr_on/seed_2002/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n034_str_on_2002/out  task=N034  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n034_str_on_2002/out/rec/stationbookendstretch/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 3399  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: 3399 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 3399 at dataset fps 25 = 135.96 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3399 rows vs ceil(6797/2) = 3399
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..6897, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 79.26 MB, 3399 frames at 25 fps, mean luma 103..157, std 19, new picture 3398x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 3399 vs 3399
+[PASS] video observation.images.wrist decodes, 640x480, not black: 73.79 MB, 3399 frames at 25 fps, mean luma 112..152, std 28, new picture 3398x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 3399 vs 3399
+parquet size 3.72 MB
+[PASS] sim_info present: rec/stationbookendstretch/000/sim_info
+dataset size 156.98 MB; whole cell dir 158.9 MB
+RESULT: ALL PASS

N034/stretch3/dr_on/seed_2002/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}

N034/stretch3/dr_on/seed_2002/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:d2358869ead62b45672b547204f928eb93d0dc9653bd95b94289d732743e3d97
+size 3716903

N034/stretch3/dr_on/seed_2002/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": 3399, "magicsim/control_steps": 6797, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the brown slot right. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot right. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, slightly above table height."}

N034/stretch3/dr_on/seed_2002/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -0,0 +1 @@
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N034/stretch3/dr_on/seed_2002/rec/stationbookendstretch/000/lerobot_v21/meta/extra/episode_000000.json

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+{
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+     "relation": "on_top_of",
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+     "model": "hellorobot",
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+     "noun": "Hello Robot Stretch 3 mobile manipulator",
+     "arms": 1,
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+   "background": {
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+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1000.0,
+    "ambient": "dim"
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+   "effects": [],
+   "caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the brown slot right. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot right. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, slightly above table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n      [t[pla[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": 3.0055409811986706,
+    "support": null
+   },
+   "generic_instruction": "Stationbookendstretch the 3.0055409811986706.",
+   "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
+}

N034/stretch3/dr_on/seed_2002/rec/stationbookendstretch/000/lerobot_v21/meta/info.json

@@ -0,0 +1,298 @@
+{
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+    "robot_type": "HelloRobotCfg",
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+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 25,
+    "splits": {
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+    "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": {
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+                "dummy_base_prismatic_y_joint",
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+                "arm_action_0",
+                "arm_action_1",
+                "arm_action_2",
+                "arm_action_3",
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+                "arm_action_5",
+                "arm_action_6",
+                "gripper"
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+                "dummy_base_revolute_z_joint",
+                "joint_lift",
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+                "joint_head_tilt",
+                "joint_arm_l3",
+                "joint_arm_l2",
+                "joint_arm_l1",
+                "joint_arm_l0",
+                "joint_wrist_yaw",
+                "joint_wrist_pitch",
+                "joint_wrist_roll",
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+                "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"
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+                "object_pose.bookend.3",
+                "object_pose.bookend.4",
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+                "object_pose.bookend.6",
+                "object_pose.plate.0",
+                "object_pose.plate.1",
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+                "object_pose.plate.3",
+                "object_pose.plate.4",
+                "object_pose.plate.5",
+                "object_pose.plate.6",
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+                "object_pose.slot_left.1",
+                "object_pose.slot_left.2",
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+                "object_pose.slot_right.2",
+                "object_pose.slot_right.3",
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+                "object_pose.slot_right.5",
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+                "object_pose.table_A.0",
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+                "object_pose.table_A.2",
+                "object_pose.table_A.3",
+                "object_pose.table_A.4",
+                "object_pose.table_A.5",
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+                "object_pose.table_B.2",
+                "object_pose.table_B.3",
+                "object_pose.table_B.4",
+                "object_pose.table_B.5",
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+                "video.width": 640,
+                "video.channels": 3,
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+}

N034/stretch3/dr_on/seed_2002/rec/stationbookendstretch/000/lerobot_v21/meta/magicsim_manifest.json

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+{
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+                    "dummy_base_prismatic_y_joint",
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N034/stretch3/dr_on/seed_2002/rec/stationbookendstretch/000/lerobot_v21/meta/tasks.jsonl

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N034/stretch3/dr_on/seed_2002/rec/stationbookendstretch/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

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+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
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+     "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
+    }
+   ]
+  }
+ ]
+}

N034/stretch3/dr_on/seed_2002/report.episodes.jsonl

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N034/stretch3/dr_on/seed_2002/report.json

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+    "/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": 1614.1,
+  "record_drain": {
+    "drain_ok": true,
+    "committed": 1,
+    "save_errors": {},
+    "drain_s": 52.3
+  }
+}