add N059/sawyer_umi/dr_on/seed_6006

N059/sawyer_umi/dr_on/seed_6006/data/record/check.json

@@ -27,27 +27,27 @@
   },
   "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
    "pass": true,
-   "detail": "2008 rows vs ceil(4016/2) = 2008"
+   "detail": "2006 rows vs ceil(4011/2) = 2006"
   },
   "rows are every 2nd control step (sim_step_idx)": {
    "pass": true,
-   "detail": "sim_step_idx 91..4105, step differences [2]"
+   "detail": "sim_step_idx 91..4101, step differences [2]"
   },
   "video observation.images.head decodes, 640x480, not black": {
    "pass": true,
-   "detail": "24.00 MB, 2008 frames at 25 fps, mean luma 36..77, std 41, new picture 2007x = 25.0 per s"
+   "detail": "23.94 MB, 2006 frames at 25 fps, mean luma 36..77, std 41, new picture 2005x = 25.0 per s"
   },
   "video observation.images.head frames = parquet rows": {
    "pass": true,
-   "detail": "2008 vs 2008"
+   "detail": "2006 vs 2006"
   },
   "video observation.images.wrist decodes, 640x480, not black": {
    "pass": true,
-   "detail": "30.23 MB, 2008 frames at 25 fps, mean luma 63..125, std 37, new picture 2007x = 25.0 per s"
+   "detail": "30.07 MB, 2006 frames at 25 fps, mean luma 63..125, std 36, new picture 2005x = 25.0 per s"
   },
   "video observation.images.wrist frames = parquet rows": {
    "pass": true,
-   "detail": "2008 vs 2008"
+   "detail": "2006 vs 2006"
   },
   "sim_info present": {
    "pass": true,

N059/sawyer_umi/dr_on/seed_6006/data/record/check.txt

@@ -1,21 +1,21 @@
 collect dataset check  cell=/mnt/scratch/sz850_atomic/n059_saw_on_6006/out/data/record  task=N059  at verify_collect_dataset.py
-dataset root /mnt/scratch/sz850_atomic/n059_saw_on_6006/out/data/record/stackblockssawyer/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 2008  videos 2  robot_type RidgebackSawyerUmiCfg
+dataset root /mnt/scratch/sz850_atomic/n059_saw_on_6006/out/data/record/stackblockssawyer/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 2006  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: 2008 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: 2006 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 how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order.'; expected 'Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order.'
-rows 2008 at dataset fps 25 = 80.32 s
-[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2008 rows vs ceil(4016/2) = 2008
-[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 91..4105, step differences [2]
-[PASS] video observation.images.head decodes, 640x480, not black: 24.00 MB, 2008 frames at 25 fps, mean luma 36..77, std 41, new picture 2007x = 25.0 per s
-[PASS] video observation.images.head frames = parquet rows: 2008 vs 2008
-[PASS] video observation.images.wrist decodes, 640x480, not black: 30.23 MB, 2008 frames at 25 fps, mean luma 63..125, std 37, new picture 2007x = 25.0 per s
-[PASS] video observation.images.wrist frames = parquet rows: 2008 vs 2008
-parquet size 1.86 MB
+rows 2006 at dataset fps 25 = 80.24 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2006 rows vs ceil(4011/2) = 2006
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 91..4101, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 23.94 MB, 2006 frames at 25 fps, mean luma 36..77, std 41, new picture 2005x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 2006 vs 2006
+[PASS] video observation.images.wrist decodes, 640x480, not black: 30.07 MB, 2006 frames at 25 fps, mean luma 63..125, std 36, new picture 2005x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 2006 vs 2006
+parquet size 1.87 MB
 [PASS] sim_info present: stackblockssawyer/000/sim_info
-dataset size 56.23 MB; whole cell dir 57.3 MB
+dataset size 56.01 MB; whole cell dir 57.1 MB
 RESULT: ALL PASS

N059/sawyer_umi/dr_on/seed_6006/data/record/stackblockssawyer/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b2e5b3fd123d1500fab9806c3e50f663706338a61a8fd8387463d76cdb8d8de3
-size 1860835
+oid sha256:5c37e538e2c1d67c57c4e07af7269d29c3e556f11a06733568be4bd162aa8827
+size 1865247

N059/sawyer_umi/dr_on/seed_6006/data/record/stackblockssawyer/000/lerobot_v21/meta/episodes.jsonl

@@ -1 +1 @@
-{"episode_index": 0, "tasks": ["Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order."], "length": 2008, "magicsim/control_steps": 4016, "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 white partition. There are a large gray table a, a large gray table b, a large white partition, a small demo x, a small demo y, a small block x and a small block y. The gray table a is to the left of the demo y. The gray table b is to the left of the block y. The white partition is to the left of the block x. The demo x is in front of the demo y. The demo y is behind the demo x. The block x is to the left of the block y. The block y is to the right of the gray table b. The scene is viewed from right, at table height."}
+{"episode_index": 0, "tasks": ["Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order."], "length": 2006, "magicsim/control_steps": 4011, "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 white partition. There are a large gray table a, a large gray table b, a large white partition, a small demo x, a small demo y, a small block x and a small block y. The gray table a is to the left of the demo y. The gray table b is to the left of the block y. The white partition is to the left of the block x. The demo x is in front of the demo y. The demo y is behind the demo x. The block x is to the left of the block y. The block y is to the right of the gray table b. The scene is viewed from right, at table height."}

N059/sawyer_umi/dr_on/seed_6006/data/record/stackblockssawyer/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -1 +1 @@
-{"episode_index": 0, "stats": {"action": {"mean": [0.04195525616210741, -0.057741980841086504, 0.011079550410001223, 0.96022594619201, 1.446987401293331, 0.6230380663061997, 0.16293402063656612, 0.031046237403237486, -0.05275999250046286, 0.10346671319993368, 0.27241035856573703], "std": [0.10616270013896172, 0.10443864928101675, 0.06905214723066834, 1.4831570401775227, 1.0476650937324292, 0.04868856850717048, 0.5716454391792529, 0.42580706614381564, 0.41872937285150774, 0.524952514978069, 0.44519990466285897], "min": [-0.09592019021511078, -0.30000001192092896, -0.005347630009055138, -3.0112228393554688, -2.1653594970703125, 0.5660557150840759, -0.5001072287559509, -0.7249066829681396, -0.6725955605506897, -0.5460191965103149, 0.0], "max": [0.30000001192092896, 0.07734356075525284, 0.800000011920929, 2.0506598949432373, 2.2825307846069336, 0.7450000047683716, 0.8871995806694031, 0.5529778003692627, 0.7596785426139832, 0.6542063355445862, 1.0], "count": [2008]}, "action_is_hold": 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N059/sawyer_umi/dr_on/seed_6006/data/record/stackblockssawyer/000/lerobot_v21/meta/extra/episode_000000.json

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N059/sawyer_umi/dr_on/seed_6006/data/record/stackblockssawyer/000/lerobot_v21/meta/info.json

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N059/sawyer_umi/dr_on/seed_6006/data/record/stackblockssawyer/000/lerobot_v21/meta/magicsim_manifest.json

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N059/sawyer_umi/dr_on/seed_6006/data/record/stackblockssawyer/000/lerobot_v21/meta/stats.json

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