add N023/sawyer_umi/dr_off/seed_5005

N023/sawyer_umi/dr_off/seed_5005/check.json

@@ -27,27 +27,27 @@
   },
   "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
    "pass": true,
-   "detail": "891 rows vs ceil(1782/2) = 891"
+   "detail": "890 rows vs ceil(1780/2) = 890"
   },
   "rows are every 2nd control step (sim_step_idx)": {
    "pass": true,
-   "detail": "sim_step_idx 31..1811, step differences [2]"
+   "detail": "sim_step_idx 31..1809, step differences [2]"
   },
   "video observation.images.head decodes, 640x480, not black": {
    "pass": true,
-   "detail": "9.26 MB, 891 frames at 25 fps, mean luma 119..144, std 41, new picture 890x = 25.0 per s"
+   "detail": "9.27 MB, 890 frames at 25 fps, mean luma 119..144, std 41, new picture 889x = 25.0 per s"
   },
   "video observation.images.head frames = parquet rows": {
    "pass": true,
-   "detail": "891 vs 891"
+   "detail": "890 vs 890"
   },
   "video observation.images.wrist decodes, 640x480, not black": {
    "pass": true,
-   "detail": "14.71 MB, 891 frames at 25 fps, mean luma 115..166, std 41, new picture 890x = 25.0 per s"
+   "detail": "14.69 MB, 890 frames at 25 fps, mean luma 115..166, std 41, new picture 889x = 25.0 per s"
   },
   "video observation.images.wrist frames = parquet rows": {
    "pass": true,
-   "detail": "891 vs 891"
+   "detail": "890 vs 890"
   },
   "sim_info present": {
    "pass": true,

N023/sawyer_umi/dr_off/seed_5005/check.txt

@@ -1,20 +1,20 @@
 collect dataset check  cell=/mnt/scratch/sz850_atomic/n023_saw_off_5005/out  task=N023  at verify_collect_dataset.py
-dataset root /mnt/scratch/sz850_atomic/n023_saw_off_5005/out/stationassembly/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 891  videos 2  robot_type RidgebackSawyerUmiCfg
+dataset root /mnt/scratch/sz850_atomic/n023_saw_off_5005/out/stationassembly/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 890  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: 891 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: 890 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 pen, pull the cap off its tip, and push the cap onto the other end of the pen.'; expected 'Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen.'
-rows 891 at dataset fps 25 = 35.64 s
-[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 891 rows vs ceil(1782/2) = 891
-[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..1811, step differences [2]
-[PASS] video observation.images.head decodes, 640x480, not black: 9.26 MB, 891 frames at 25 fps, mean luma 119..144, std 41, new picture 890x = 25.0 per s
-[PASS] video observation.images.head frames = parquet rows: 891 vs 891
-[PASS] video observation.images.wrist decodes, 640x480, not black: 14.71 MB, 891 frames at 25 fps, mean luma 115..166, std 41, new picture 890x = 25.0 per s
-[PASS] video observation.images.wrist frames = parquet rows: 891 vs 891
+rows 890 at dataset fps 25 = 35.60 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 890 rows vs ceil(1780/2) = 890
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..1809, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 9.27 MB, 890 frames at 25 fps, mean luma 119..144, std 41, new picture 889x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 890 vs 890
+[PASS] video observation.images.wrist decodes, 640x480, not black: 14.69 MB, 890 frames at 25 fps, mean luma 115..166, std 41, new picture 889x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 890 vs 890
 parquet size 1.00 MB
 [PASS] sim_info present: stationassembly/000/sim_info
 dataset size 25.12 MB; whole cell dir 25.6 MB

N023/sawyer_umi/dr_off/seed_5005/report.json

@@ -141,7 +141,7 @@
       }
     }
   },
-  "steps": 1812,
+  "steps": 1810,
   "task_id": "N023",
   "task_version": "EXT60-MobileAvatar-v3",
   "family_id": "cap_transfer",
@@ -1071,11 +1071,6 @@
       0.524,
       1.459
     ],
-    [
-      -2.06,
-      0.524,
-      1.459
-    ],
     [
       -2.06,
       0.524,
@@ -1141,12 +1136,12 @@
       "event": "assemble_start",
       "t_l6_part": [
         0.2215,
-        0.0132,
+        0.0133,
         -0.0022,
-        0.5566,
-        -0.6018,
-        -0.4201,
-        0.3891
+        0.5563,
+        -0.6026,
+        -0.4202,
+        0.3884
       ]
     },
     {
@@ -1161,101 +1156,101 @@
       "kind": "servo"
     },
     {
-      "step": 1078,
+      "step": 1077,
       "event": "cap_off",
-      "x_mm": -105.3
+      "x_mm": -105.0
     },
     {
-      "step": 1107,
+      "step": 1106,
       "event": "wp_done",
       "name": "pull"
     },
     {
-      "step": 1107,
+      "step": 1106,
       "event": "wp_start",
       "name": "lift",
       "kind": "servo"
     },
     {
-      "step": 1129,
+      "step": 1128,
       "event": "picked",
       "part": [
         -2.1917,
-        1.4306,
-        0.5095
+        1.4305,
+        0.5094
       ],
       "gap_mm": 37.3,
       "lift_mm": 30.5
     },
     {
-      "step": 1149,
+      "step": 1148,
       "event": "wp_done",
       "name": "lift"
     },
     {
-      "step": 1149,
+      "step": 1148,
       "event": "wp_start",
       "name": "turn",
       "kind": "servo"
     },
     {
-      "step": 1401,
+      "step": 1399,
       "event": "wp_done",
       "name": "turn"
     },
     {
-      "step": 1401,
+      "step": 1399,
       "event": "wp_start",
       "name": "over_tail",
       "kind": "servo"
     },
     {
-      "step": 1581,
+      "step": 1579,
       "event": "wp_done",
       "name": "over_tail"
     },
     {
-      "step": 1581,
+      "step": 1579,
       "event": "wp_start",
       "name": "down",
       "kind": "servo"
     },
     {
-      "step": 1629,
+      "step": 1627,
       "event": "wp_done",
       "name": "down"
     },
     {
-      "step": 1629,
+      "step": 1627,
       "event": "wp_start",
       "name": "push_on",
       "kind": "servo"
     },
     {
-      "step": 1687,
+      "step": 1685,
       "event": "wp_done",
       "name": "push_on"
     },
     {
-      "step": 1687,
+      "step": 1685,
       "event": "release_start"
     },
     {
-      "step": 1766,
+      "step": 1764,
       "event": "leave_start"
     },
     {
-      "step": 1783,
+      "step": 1781,
       "event": "released",
       "gap_mm": 41.7
     },
     {
-      "step": 1812,
+      "step": 1810,
       "event": "success",
       "ok": true,
-      "seat_dx_mm": 0.22,
+      "seat_dx_mm": 0.19,
       "lateral_mm": 1.09,
-      "axis_deg": 0.18,
+      "axis_deg": 0.15,
       "nib_exposed": true
     }
   ],
@@ -1273,9 +1268,9 @@
   "violations": [],
   "end_state": {
     "ok": true,
-    "seat_dx_mm": 0.22,
+    "seat_dx_mm": 0.19,
     "lateral_mm": 1.09,
-    "axis_deg": 0.18,
+    "axis_deg": 0.15,
     "nib_exposed": true
   },
   "manipulation_success": true,
@@ -1285,5 +1280,5 @@
     "released": true
   },
   "command_state": null,
-  "elapsed_s": 506.9
+  "elapsed_s": 497.1
 }

N023/sawyer_umi/dr_off/seed_5005/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3e5fa6d0a297b1059fdaad404187fa621b1c7bd136463401ede60aae7e7343cd
-size 999316
+oid sha256:84dc00f27f9a4b6e699366e583c85a99ea3c072259fee2726183beee20b63f24
+size 1003499

N023/sawyer_umi/dr_off/seed_5005/stationassembly/000/lerobot_v21/meta/episodes.jsonl

@@ -1 +1 @@
-{"episode_index": 0, "tasks": ["Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen."], "length": 891, "magicsim/control_steps": 1782, "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 A. There are a large gray table A, a small pen holder and a small cap. The gray table A is in front of the pen holder. The pen holder is to the right of the cap. The cap is to the left of the pen holder. The scene is viewed from front, at table height."}
+{"episode_index": 0, "tasks": ["Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen."], "length": 890, "magicsim/control_steps": 1780, "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 A. There are a large gray table A, a small pen holder and a small cap. The gray table A is in front of the pen holder. The pen holder is to the right of the cap. The cap is to the left of the pen holder. The scene is viewed from front, at table height."}

N023/sawyer_umi/dr_off/seed_5005/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -1 +1 @@
-{"episode_index": 0, "stats": {"action": {"mean": [0.09287796558145388, -0.00048332830617156227, 0.017438378816564053, -2.294290337230755, 0.8386064539720983, 0.9720708079611011, 0.4192063495298319, 0.2648310929570268, 0.41090063685101824, -0.2182500789529413, 0.3984287317620651], "std": [0.13548123287255365, 0.009291281304816929, 0.07611453940532231, 0.40821548056034357, 0.9804823549174567, 0.27643776060150266, 0.18008856902522702, 0.451073878035538, 0.20325578314099793, 0.5103386228774615, 0.48957458825855793], "min": [0.0, -0.065005362033844, 0.0, -3.3560526371002197, -1.9071701765060425, 0.6806273460388184, -0.36277323961257935, -0.6092666983604431, -0.583478569984436, -0.7654992938041687, 0.0], "max": [0.30000001192092896, 0.020978227257728577, 0.6891866326332092, -1.8003346920013428, 1.4956834316253662, 1.3033589124679565, 0.6795433163642883, 0.6709606647491455, 0.5889471769332886, 0.7654885053634644, 1.0], "count": [891]}, "action_is_hold": {"mean": [0.020202020202020204, 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N023/sawyer_umi/dr_off/seed_5005/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json

@@ -4,7 +4,7 @@
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N023/sawyer_umi/dr_off/seed_5005/stationassembly/000/lerobot_v21/meta/info.json

@@ -2,7 +2,7 @@
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N023/sawyer_umi/dr_off/seed_5005/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json

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N023/sawyer_umi/dr_off/seed_5005/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

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N023/sawyer_umi/dr_off/seed_5005/stationassembly/000/run_meta.json

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N023/sawyer_umi/dr_off/seed_5005/stationassembly/000/sim_info/0/actions.npz

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N023/sawyer_umi/dr_off/seed_5005/stationassembly/000/sim_info/magicsim_manifest.json

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