diff --git a/N012/go2_arm/dr_off/seed_3045/check.json b/N012/go2_arm/dr_off/seed_3045/check.json new file mode 100644 index 0000000000000000000000000000000000000000..914d532e35522d040643860e7e26410cfe131228 --- /dev/null +++ b/N012/go2_arm/dr_off/seed_3045/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 tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.'; expected 'Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1320 rows vs ceil(2640/2) = 1320" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 211..2849, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "26.29 MB, 1320 frames at 25 fps, mean luma 97..138, std 8, 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": "22.81 MB, 1320 frames at 25 fps, mean luma 78..137, std 41, 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": "squeegee/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N012/go2_arm/dr_off/seed_3045/check.txt b/N012/go2_arm/dr_off/seed_3045/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..8713b686c88c33369cf8a54fee980513236ed295 --- /dev/null +++ b/N012/go2_arm/dr_off/seed_3045/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n012_go2_off_3045/out task=N012 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n012_go2_off_3045/out/squeegee/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1320 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: 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 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 tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.'; expected 'Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.' +rows 1320 at dataset fps 25 = 52.80 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1320 rows vs ceil(2640/2) = 1320 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 211..2849, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 26.29 MB, 1320 frames at 25 fps, mean luma 97..138, std 8, 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: 22.81 MB, 1320 frames at 25 fps, mean luma 78..137, std 41, new picture 1319x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1320 vs 1320 +parquet size 4.24 MB +[PASS] sim_info present: squeegee/000/sim_info +dataset size 53.74 MB; whole cell dir 57.0 MB +RESULT: ALL PASS diff --git a/N012/go2_arm/dr_off/seed_3045/config.yaml b/N012/go2_arm/dr_off/seed_3045/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..70456a941c26933c7071db0339ebab4191ecaf29 --- /dev/null +++ b/N012/go2_arm/dr_off/seed_3045/config.yaml @@ -0,0 +1,720 @@ +env_string: SqueegeeEnv-V0 +env: + sim: + device: cpu + use_fabric: false + decimation: 4 + dt: 0.005 + seed: 3045 + soft_resets: 1000000 + scene: + num_envs: 1 + env_spacing: 14 + render: + rendering_mode: performance + enable_reflections: false + enable_global_illumination: false + enable_translucency: false + enable_dl_denoiser: false + robot: + Go2Plus: + name: go2plus + type: mobilemanip + common: + pos: + - - -3.1601028590351685 + - -1.722878094480288 + - 0.45 + - - -3.1601028590351685 + - -1.722878094480288 + - 0.45 + ori: + - - 0 + - 0 + - 25.000000000000075 + - - 0 + - 0 + - 25.000000000000075 + initial_joint_pos: null + action: + base_action: unified + arm_action: ik_curobo + eef_action: binary + reset: default + planner: + dual_mode: true + base_joint_names: + - base_x + - base_y + - base_yaw + - base_height + ik: + type: go2plus + enable: true + ik_num_instances: 1 + ik_batch_size: 1 + ik_num_seeds: 64 + ik_position_threshold: 0.005 + ik_rotation_threshold: 0.05 + microbatch_wait_ms: 20.0 + relative_to_world_frame: false + eef_num: 1 + debug: false + seed_use_live_joint_pos: true + motiongen: + type: go2plus + enable: true + batch_size: 1 + debug: false + motiongen_num_instances: 1 + microbatch_wait_ms: 400.0 + mode: position + relative_to_world_frame: false + eef_num: 1 + seed_use_live_joint_pos: true + anchor_ik_seeds_to_current_state: false + num_trajopt_seeds: 1 + num_ik_seeds: 4 + max_attempts: 4 + joint_limit_retry_weight: 100000000.0 + start_state_limit_inset: 0.002 + body: + type: nav + dwb_type: dwb_quadruped + dwb_quadruped: + device: cpu + dt: 0.02 + debug: false + num_rollout_steps: 60 + num_speed_samples: 11 + num_steer_samples: 11 + num_vx_samples: 7 + num_vy_samples: 7 + num_yaw_samples: 7 + max_accel: 1.5 + max_steer_rate: 1.5 + max_accel_vx: 1.5 + max_accel_vy: 1.5 + max_yaw_accel: 1.5 + w_goal: 6.0 + w_path: 24.0 + w_vel: 0.2 + w_vy: 0.0 + dilate_radius: 0.2 + goal_cost_mode: path + room_size: 12.0 + occupancy_update_interval: 25 + scan_height: 0.38 + scan_min_z: 0.15 + scan_max_z: 0.63 + goal_pos_threshold: 0.16 + goal_yaw_threshold: 0.08 + goal_yaw_hysteresis: 0.02 + kp_goal_yaw: 4.0 + heading_reference: path + turn_yaw_threshold: 0.8 + heading_lookahead: 0.8 + heading_min_leg: 0.35 + route_yaw_gain: 2.0 + min_vx: -0.35 + max_vx: 0.35 + min_vy: -0.25 + max_vy: 0.25 + min_yaw_rate: -0.8 + max_yaw_rate: 0.8 + dynamic_window_source: command + default_height: 0.35 + safety_min_progress_speed: 0.1 + safety_stop_distance: 0.2 + safety_enabled: true + safety_deceleration: 0.5 + safety_reaction_time: 0.5 + safety_release_distance: 0.35 + scan_type: 3d + robot_type: quadruped + velocity_frame: body + p_controller: + velocity_frame: body + nav_upgrade_distance: 0.03 + nav_heading_target: -1 + kp_linear_x: 3.0 + kd_linear_x: 0.4 + kp_linear_y: 3.0 + kd_linear_y: 0.4 + kp_angular: 1.5 + kd_angular: 0.2 + kp_angular_turning_only: 1.5 + kd_angular_turning_only: 0.2 + min_vel: -0.4 + max_vel: 0.5 + linear_dead_zone: 0.01 + angular_dead_zone: 0.05 + arm: + type: default + eef: + type: default + physics: + robot_radius: 0.5 + camera: + enable_tiled: false + colorize_depth: false + head: + camera: + type: camera + mesh: pinhole + resolution: + - 640 + - 480 + frequency: 25 + focal_length: 1.8231182098388672 + horizontal_aperture: 1.9199999570846558 + vertical_aperture: 1.4407838582992554 + clipping_range: + - 0.05 + - 30.0 + focus_distance: 3.0 + mode: RGB + mount_link: Robot_0/Bodies/go2_base + pos: + - 0.332051 + - 0.038027 + - 0.093559 + ori: + - 169.9473 + - -88.6452 + - 81.5985 + annotator: + enabled: true + rgb_capture: + type: rgb + device: cpu + wrist: + camera: + type: camera + mesh: pinhole + resolution: + - 640 + - 480 + frequency: 25 + focal_length: 1.8517500162124634 + horizontal_aperture: 1.9199999570846558 + vertical_aperture: 1.4393036365509033 + clipping_range: + - 0.05 + - 30.0 + focus_distance: 3.0 + mode: RGB + mount_link: Robot_0/Bodies/piper_link6 + pos: + - -0.074987 + - 0.005289 + - 0.045821 + ori: + - 179.3135 + - -20.212 + - 88.9402 + annotator: + enabled: true + rgb_capture: + type: rgb + device: cpu + scene: + terrain: + type: nav_room + collision: true + hide_top_walls: true + usd: + - $MAGICSIM_ASSETS/Room/Collected_SimpleRoom + annotation: Annotation + random: false + pos: + - 0.0 + - 0.0 + - 0.0 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 1.0 + - 1.0 + - 1.0 + physics_material: + static_friction: 1.0 + dynamic_friction: 1.0 + restitution: 0.0 + friction_combine_mode: multiply + restitution_combine_mode: multiply + background: + intensity: + - 1000 + - 1000 + light: + light_1: + types: + - Dome + common: + pos: + - 0.0 + - 0.0 + - 0.0 + ori: + - 0.0 + - 0.0 + - 0.0 + color_temperature_range: + - 6500 + - 6500 + color_range: + - - 1.0 + - 1.0 + - 1.0 + - - 1.0 + - 1.0 + - 1.0 + Dome: + intensity_range: + - 858.9468504395691 + - 858.9468504395691 + water: + max_particles: 1500 + particle: + fluid_rest_offset: 0.0027 + ccd: true + look: + mode: spheres + color: + - 0.05 + - 0.45 + - 1.0 + bead_scale: 1.5 + retire: + floor_ttl: 3600.0 + max_age: 7200.0 + radius: 30.0 + below: -2.0 + objects: + table_a: + usd: + - Cube + num_per_env: 1 + random: false + table_a_1: + pos: + - -1.0 + - 3.2 + - 0.30500000000000005 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.9 + - 0.6 + - 0.55 + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - - 0.35 + - 0.37 + - 0.4 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.8764915517329324 + dynamic_friction: 0.6573686637996992 + restitution: 0.0 + table_b: + usd: + - Cube + num_per_env: 1 + random: false + table_b_1: + pos: + - 2.6 + - 0.4 + - 0.30500000000000005 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.7 + - 1.0 + - 0.55 + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - - 0.35 + - 0.37 + - 0.4 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.7799360219876519 + dynamic_friction: 0.5849520164907389 + restitution: 0.0 + squeegee: + usd: + - $MAGICSIM_ASSETS/Object/MMB/Squeegee/Object.usda + num_per_env: 1 + random: false + squeegee_1: + pos: + - -0.9985778529226993 + - 3.120303921516608 + - 0.7210000000000001 + ori: + - 0.0 + - 0.0 + - 92.62644469344893 + physics: + type: rigid + mass: 0.11460978985789223 + physics_material: + static_friction: 1.4671445523329614 + dynamic_friction: 1.283751483291341 + restitution: 0.0 + rack_a0: + usd: + - Cube + num_per_env: 1 + random: false + rack_a0_1: + pos: + - -1.0 + - 3.2065 + - 0.6485000000000001 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.1 + - 0.053000000000000005 + - 0.137 + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - - 0.45 + - 0.3 + - 0.18 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.7624489742131626 + dynamic_friction: 0.571836730659872 + restitution: 0.0 + platform: + usd: + - $MAGICSIM_ASSETS/Object/MMB/Platform/Object.usda + num_per_env: 1 + random: false + platform_1: + pos: + - 2.5 + - 0.4 + - 0.6000000000000001 + ori: + - 0.0 + - 0.0 + - 0.0 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.7630501403113767 + dynamic_friction: 0.5722876052335325 + restitution: 0.0 + water: {} + trough: + usd: + - $MAGICSIM_ASSETS/Object/MMB/Trough/Object.usda + num_per_env: 1 + random: false + trough_1: + pos: + - 2.74 + - 0.4 + - 0.5950000000000001 + ori: + - 0.0 + - 0.0 + - 0.0 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.8377444504336939 + dynamic_friction: 0.6283083378252704 + restitution: 0.0 + water: {} + nav: + navmesh: + enabled: true + visualize: false + bake_timeout_s: 120 + agent_height_cm: 65 + min_agent_radius_cm: 30.0 + max_agent_radius_cm: 30.0 + max_step_height_cm: 20 + max_floor_slope_deg: 30 + agent_island_radius_cm: 5 + auto_exclude_rigid_bodies: true + validate_path_clearance: true + validate_path_window: true + navmesh_offset_z_m: 0 + verbose: true + occupancymap: + cell_size: 0.05 +task: + observation: {} + reward: {} + termination: + timeout_steps: 24000 + success_hold_frames: 1 + mmb: + task_id: N012 + agent_id: a03 + embodiment: stretch3 + level: easy + scene_seed: 3045 + layout: + S: + - -3.1601028590351685 + - -1.722878094480288 + - 0.43633231299858366 + tables: + A: + center: + - -1.0 + - 3.2 + size: + - 0.9 + - 0.6 + top: 0.5800000000000001 + color: + - 0.35 + - 0.37 + - 0.4 + B: + center: + - 2.6 + - 0.4 + size: + - 0.7 + - 1.0 + top: 0.5800000000000001 + color: + - 0.35 + - 0.37 + - 0.4 + stations: + A: + table: A + work_point: + - -1.0 + - 3.12 + arm_dir: + - 0.0 + - 1.0 + reach: 0.54 + fwd: 0.0 + stand: + - -1.0 + - 2.58 + - 1.5707963267948966 + B: + table: B + work_point: + - 2.45 + - 0.4 + arm_dir: + - 1.0 + - 0.0 + reach: 0.47 + fwd: 0.0 + stand: + - 1.9800000000000002 + - 0.4 + - 0.0 + hold_ticks: 40 + grace_ticks: 400 + water_settle_ticks: 120 + object_settle_ticks: 60 + planning: + avoid: + - dynamic + ignore: + - squeegee + - water + water: + max_particles: 1500 + platform: + center: + - 2.5 + - 0.4 + surface_z: 0.6000000000000001 + drain_x: 2.7 + puddle: + center: + - -0.04 + - 0.0 + size: + - 0.07 + - 0.06 + ml: 30.0 + medium_offset: + - 0.02 + - 0.05 + hard_gap: 0.14 + success: + min_in_trough: 0.7 + max_residual: 0.15 + max_spill: 0.1 + tool: + category: squeegee + asset: Squeegee + plate_z: 0.7200000000000001 + view: + eye: + - 3.12 + - -0.15000000000000002 + - 1.05 + target: + - 2.58 + - 0.4 + - 0.6000000000000001 + dr: + seed: 3045 + spawn_dxy: + - -0.16 + - 0.077 + friction_scale: + platform_1: 0.954 + rack_a0_1: 0.953 + squeegee_1: 0.917 + table_a_1: 1.096 + table_b_1: 0.975 + trough_1: 1.047 + moved: + squeegee_1: + - 0.0014 + - 0.0003 + - 2.63 + light_scale: 0.954 +collect: + command: + Squeegee: + stage_retries: 1 + robot_id: 0 + init_limit: 30 + max_attempt: 1 + completion_timeout_steps: 2400 + pre_back: 0.12 + lift: 0.1 + carry: + lateral: 0.52 + forward: 0.0 + z: 0.85 + blade_clearance: 0.0015 + approach_above: 0.07 + push: + x_start_world: 2.4 + x_end_world: 2.745 + segments: 5 + blade_x: 0.119 + blade_low: 0.105 + modes: + pre_grasp: -1 + grasp: 4 + lift: 4 + carry: -1 + pre_push: -1 + lower: 4 + push: 4 + retreat: 4 + global_planner: + NavTo: + use_navmesh: true + use_absolute: true + translation_threshold: 0.2 + rotation_threshold: 0.3 + num_path_segments: 30 + start_forward_offset: -0.25 + visualize_path: false + carry_arm: true + NavToTrim: + use_navmesh: false + carry_arm: true + visualize_path: false + trim_pos_threshold: 0.01 + trim_yaw_threshold: 0.015 + max_steps: 1500 + MobileMoveL: + translation_threshold: 0.006 + rotation_threshold: 0.2 + stall_release_ticks: 100 + stall_release_factor: 5.0 + motiongen_distance_threshold: 0.05 + timeout_steps: 3000 + timeout_done_tolerance: 0.06 + debug: false + debug_viz: false + debug_sphere: false + reactive: false + base_pos_threshold: 0.12 + base_rot_threshold: 0.5 + eef_pos_threshold: 0.03 + eef_rot_threshold: 0.3 + waypoint_max_steps: 8 + interp_steps: 60 + interp_validate_target: true + ParallelGripper: + gripper_threshold: 0.0005 + timeout_steps: 60 + atomic_skill: + NavToPose: + robot_id: 0 + position_threshold: 0.2 + angle_threshold: 0.3 + trim: false + Move: + robot_id: 0 + hand_id: 0 + arm_planner: MobileMoveL + hand_planner: ParallelGripper + ramp_steps: 0 + hold_steps: 60 + open_value: 0.0 + close_value: 1.0 + auto_collect: + task_type: squeegee + max_trajectories: 1 + record: + output_dir: /mnt/scratch/xc536_atomic/n012_go2_off_3045/out + formats: + - lerobot_v21 + - sim_info + clear_buffer_on_failure: true + lerobot: + subsample_every: 2 +visual_dr: + keep: + - Water + - trough diff --git a/N012/go2_arm/dr_off/seed_3045/report.json b/N012/go2_arm/dr_off/seed_3045/report.json new file mode 100644 index 0000000000000000000000000000000000000000..06393f1764a8066995138d813633c12725e60d67 --- /dev/null +++ b/N012/go2_arm/dr_off/seed_3045/report.json @@ -0,0 +1,10765 @@ +{ + "task": "N012", + "level": "easy", + "seed": 3045, + "episodes": [ + { + "task_id": "N012", + "task_version": "EXT60-MobileAvatar-v3", + "agent_id": "a03", + "family_id": "liquid_squeegee", + "primary_category": "C5", + "level": "easy", + "embodiment": "stretch3", + "scene_seed": 3045, + "execution_mode": "scripted_expert_chain: Task env -> Command -> AtomicSkill -> GlobalPlanner -> cuRobo; base by NavMesh + DWB (NavToPose), arm by MobileMoveL, hand by ParallelGripper", + "station_layout": { + "S": [ + -3.1601028590351685, + -1.722878094480288, + 0.43633231299858366 + ], + "tables": { + "A": { + "center": [ + -1.0, + 3.2 + ], + "size": [ + 0.9, + 0.6 + ], + "top": 0.5800000000000001, + "color": [ + 0.35, + 0.37, + 0.4 + ] + }, + "B": { + "center": [ + 2.6, + 0.4 + ], + "size": [ + 0.7, + 1.0 + ], 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b/N012/go2_arm/dr_off/seed_3045/squeegee/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..a04da23b6f643925521c3378c0f24424374a951a --- /dev/null +++ b/N012/go2_arm/dr_off/seed_3045/squeegee/000/sim_info/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 11:29:14" + }, + "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": { + "dim": 12, + "nan_policy": "from_raw", + "segments": [ + { + "name": "Go2Plus.base_action", + "start": 0, + "end": 4, + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3" + ], + "source": "Go2UnifiedLocomotionAction", + "names_source": "fallback" + }, + { + "name": "Go2Plus.arm_action", + "start": 4, + "end": 11, + "names": [ + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z" + ], + "source": "Go2PlusCuroboIKAction", + "names_source": "pose_layout" + }, + { + "name": "Go2Plus.eef_action", + "start": 11, + "end": 12, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 26, + "segments": [ + { + "name": "Go2Plus.joint_pos", + "start": 0, + "end": 24, + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23" + ], + "source": "ObservationManager", + "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)" + }, + { + "name": "Go2Plus.gripper_pos", + "start": 24, + "end": 26, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 20, + "segments": [ + { + "name": "Go2Plus.joint_vel", + "start": 0, + "end": 20, + "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" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (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": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726 + ], + "quat": [ + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587 + ], + "quat": [ + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + } + }, + "generated_run": { + "run_id": "squeegee/000", + "task_type": "Squeegee" + } +} \ No newline at end of file diff --git a/N012/go2_arm/dr_on/seed_4040/check.json b/N012/go2_arm/dr_on/seed_4040/check.json new file mode 100644 index 0000000000000000000000000000000000000000..3024b12cb813108135aa95cc3fea6e4a06422fd8 --- /dev/null +++ b/N012/go2_arm/dr_on/seed_4040/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 tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.'; expected 'Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1319 rows vs ceil(2638/2) = 1319" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 211..2847, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "18.43 MB, 1319 frames at 25 fps, mean luma 76..108, std 7, new picture 1318x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1319 vs 1319" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "26.46 MB, 1319 frames at 25 fps, mean luma 45..94, std 29, new picture 1318x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1319 vs 1319" + }, + "sim_info present": { + "pass": true, + "detail": "squeegee/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N012/go2_arm/dr_on/seed_4040/check.txt b/N012/go2_arm/dr_on/seed_4040/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..780d20ef02027839e7eff45291803b5ebe2d96a8 --- /dev/null +++ b/N012/go2_arm/dr_on/seed_4040/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n012_go2_on_4040/out task=N012 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n012_go2_on_4040/out/squeegee/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1319 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: 1319 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 tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.'; expected 'Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.' +rows 1319 at dataset fps 25 = 52.76 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1319 rows vs ceil(2638/2) = 1319 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 211..2847, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 18.43 MB, 1319 frames at 25 fps, mean luma 76..108, std 7, new picture 1318x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1319 vs 1319 +[PASS] video observation.images.wrist decodes, 640x480, not black: 26.46 MB, 1319 frames at 25 fps, mean luma 45..94, std 29, new picture 1318x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1319 vs 1319 +parquet size 4.26 MB +[PASS] sim_info present: squeegee/000/sim_info +dataset size 49.57 MB; whole cell dir 52.9 MB +RESULT: ALL PASS diff --git a/N012/go2_arm/dr_on/seed_4040/config.yaml b/N012/go2_arm/dr_on/seed_4040/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..be9889464576c825d61866c1dbf0e119ad753299 --- /dev/null +++ b/N012/go2_arm/dr_on/seed_4040/config.yaml @@ -0,0 +1,720 @@ +env_string: SqueegeeEnv-V0 +env: + sim: + device: cpu + use_fabric: false + decimation: 4 + dt: 0.005 + seed: 4040 + soft_resets: 1000000 + scene: + num_envs: 1 + env_spacing: 14 + render: + rendering_mode: performance + enable_reflections: false + enable_global_illumination: false + enable_translucency: false + enable_dl_denoiser: false + robot: + Go2Plus: + name: go2plus + type: mobilemanip + common: + pos: + - - -2.882389162195397 + - -1.9099442609418165 + - 0.45 + - - -2.882389162195397 + - -1.9099442609418165 + - 0.45 + ori: + - - 0 + - 0 + - 25.000000000000075 + - - 0 + - 0 + - 25.000000000000075 + initial_joint_pos: null + action: + base_action: unified + arm_action: ik_curobo + eef_action: binary + reset: default + planner: + dual_mode: true + base_joint_names: + - base_x + - base_y + - base_yaw + - base_height + ik: + type: go2plus + enable: true + ik_num_instances: 1 + ik_batch_size: 1 + ik_num_seeds: 64 + ik_position_threshold: 0.005 + ik_rotation_threshold: 0.05 + microbatch_wait_ms: 20.0 + relative_to_world_frame: false + eef_num: 1 + debug: false + seed_use_live_joint_pos: true + motiongen: + type: go2plus + enable: true + batch_size: 1 + debug: false + motiongen_num_instances: 1 + microbatch_wait_ms: 400.0 + mode: position + relative_to_world_frame: false + eef_num: 1 + seed_use_live_joint_pos: true + anchor_ik_seeds_to_current_state: false + num_trajopt_seeds: 1 + num_ik_seeds: 4 + max_attempts: 4 + joint_limit_retry_weight: 100000000.0 + start_state_limit_inset: 0.002 + body: + type: nav + dwb_type: dwb_quadruped + dwb_quadruped: + device: cpu + dt: 0.02 + debug: false + num_rollout_steps: 60 + num_speed_samples: 11 + num_steer_samples: 11 + num_vx_samples: 7 + num_vy_samples: 7 + num_yaw_samples: 7 + max_accel: 1.5 + max_steer_rate: 1.5 + max_accel_vx: 1.5 + max_accel_vy: 1.5 + max_yaw_accel: 1.5 + w_goal: 6.0 + w_path: 24.0 + w_vel: 0.2 + w_vy: 0.0 + dilate_radius: 0.2 + goal_cost_mode: path + room_size: 12.0 + occupancy_update_interval: 25 + scan_height: 0.38 + scan_min_z: 0.15 + scan_max_z: 0.63 + goal_pos_threshold: 0.16 + goal_yaw_threshold: 0.08 + goal_yaw_hysteresis: 0.02 + kp_goal_yaw: 4.0 + heading_reference: path + turn_yaw_threshold: 0.8 + heading_lookahead: 0.8 + heading_min_leg: 0.35 + route_yaw_gain: 2.0 + min_vx: -0.35 + max_vx: 0.35 + min_vy: -0.25 + max_vy: 0.25 + min_yaw_rate: -0.8 + max_yaw_rate: 0.8 + dynamic_window_source: command + default_height: 0.35 + safety_min_progress_speed: 0.1 + safety_stop_distance: 0.2 + safety_enabled: true + safety_deceleration: 0.5 + safety_reaction_time: 0.5 + safety_release_distance: 0.35 + scan_type: 3d + robot_type: quadruped + velocity_frame: body + p_controller: + velocity_frame: body + nav_upgrade_distance: 0.03 + nav_heading_target: -1 + kp_linear_x: 3.0 + kd_linear_x: 0.4 + kp_linear_y: 3.0 + kd_linear_y: 0.4 + kp_angular: 1.5 + kd_angular: 0.2 + kp_angular_turning_only: 1.5 + kd_angular_turning_only: 0.2 + min_vel: -0.4 + max_vel: 0.5 + linear_dead_zone: 0.01 + angular_dead_zone: 0.05 + arm: + type: default + eef: + type: default + physics: + robot_radius: 0.5 + camera: + enable_tiled: false + colorize_depth: false + head: + camera: + type: camera + mesh: pinhole + resolution: + - 640 + - 480 + frequency: 25 + focal_length: 1.8231182098388672 + horizontal_aperture: 1.9199999570846558 + vertical_aperture: 1.4407838582992554 + clipping_range: + - 0.05 + - 30.0 + focus_distance: 3.0 + mode: RGB + mount_link: Robot_0/Bodies/go2_base + pos: + - 0.332051 + - 0.038027 + - 0.093559 + ori: + - 169.9473 + - -88.6452 + - 81.5985 + annotator: + enabled: true + rgb_capture: + type: rgb + device: cpu + wrist: + camera: + type: camera + mesh: pinhole + resolution: + - 640 + - 480 + frequency: 25 + focal_length: 1.8517500162124634 + horizontal_aperture: 1.9199999570846558 + vertical_aperture: 1.4393036365509033 + clipping_range: + - 0.05 + - 30.0 + focus_distance: 3.0 + mode: RGB + mount_link: Robot_0/Bodies/piper_link6 + pos: + - -0.074987 + - 0.005289 + - 0.045821 + ori: + - 179.3135 + - -20.212 + - 88.9402 + annotator: + enabled: true + rgb_capture: + type: rgb + device: cpu + scene: + terrain: + type: nav_room + collision: true + hide_top_walls: true + usd: + - $MAGICSIM_ASSETS/Room/Collected_SimpleRoom + annotation: Annotation + random: false + pos: + - 0.0 + - 0.0 + - 0.0 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 1.0 + - 1.0 + - 1.0 + physics_material: + static_friction: 1.0 + dynamic_friction: 1.0 + restitution: 0.0 + friction_combine_mode: multiply + restitution_combine_mode: multiply + background: + intensity: + - 1000 + - 1000 + light: + light_1: + types: + - Dome + common: + pos: + - 0.0 + - 0.0 + - 0.0 + ori: + - 0.0 + - 0.0 + - 0.0 + color_temperature_range: + - 6500 + - 6500 + color_range: + - - 1.0 + - 1.0 + - 1.0 + - - 1.0 + - 1.0 + - 1.0 + Dome: + intensity_range: + - 887.649026079902 + - 887.649026079902 + water: + max_particles: 1500 + particle: + fluid_rest_offset: 0.0027 + ccd: true + look: + mode: spheres + color: + - 0.05 + - 0.45 + - 1.0 + bead_scale: 1.5 + retire: + floor_ttl: 3600.0 + max_age: 7200.0 + radius: 30.0 + below: -2.0 + objects: + table_a: + usd: + - Cube + num_per_env: 1 + random: false + table_a_1: + pos: + - -1.0 + - 3.2 + - 0.30500000000000005 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.9 + - 0.6 + - 0.55 + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - - 0.35 + - 0.37 + - 0.4 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.8507890760222758 + dynamic_friction: 0.6380918070167068 + restitution: 0.0 + table_b: + usd: + - Cube + num_per_env: 1 + random: false + table_b_1: + pos: + - 2.6 + - 0.4 + - 0.30500000000000005 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.7 + - 1.0 + - 0.55 + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - - 0.35 + - 0.37 + - 0.4 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.7844716611923216 + dynamic_friction: 0.5883537458942412 + restitution: 0.0 + squeegee: + usd: + - $MAGICSIM_ASSETS/Object/MMB/Squeegee/Object.usda + num_per_env: 1 + random: false + squeegee_1: + pos: + - -1.0073409906592137 + - 3.1219144394489144 + - 0.7210000000000001 + ori: + - 0.0 + - 0.0 + - 90.44327577254761 + physics: + type: rigid + mass: 0.12223398559814955 + physics_material: + static_friction: 1.7201622455097447 + dynamic_friction: 1.5051419648210265 + restitution: 0.0 + rack_a0: + usd: + - Cube + num_per_env: 1 + random: false + rack_a0_1: + pos: + - -1.0 + - 3.2065 + - 0.6485000000000001 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.1 + - 0.053000000000000005 + - 0.137 + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - - 0.45 + - 0.3 + - 0.18 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.8746640990936531 + dynamic_friction: 0.6559980743202397 + restitution: 0.0 + platform: + usd: + - $MAGICSIM_ASSETS/Object/MMB/Platform/Object.usda + num_per_env: 1 + random: false + platform_1: + pos: + - 2.5 + - 0.4 + - 0.6000000000000001 + ori: + - 0.0 + - 0.0 + - 0.0 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.7762954538184537 + dynamic_friction: 0.5822215903638401 + restitution: 0.0 + water: {} + trough: + usd: + - $MAGICSIM_ASSETS/Object/MMB/Trough/Object.usda + num_per_env: 1 + random: false + trough_1: + pos: + - 2.74 + - 0.4 + - 0.5950000000000001 + ori: + - 0.0 + - 0.0 + - 0.0 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.7855377161438657 + dynamic_friction: 0.5891532871078993 + restitution: 0.0 + water: {} + nav: + navmesh: + enabled: true + visualize: false + bake_timeout_s: 120 + agent_height_cm: 65 + min_agent_radius_cm: 30.0 + max_agent_radius_cm: 30.0 + max_step_height_cm: 20 + max_floor_slope_deg: 30 + agent_island_radius_cm: 5 + auto_exclude_rigid_bodies: true + validate_path_clearance: true + validate_path_window: true + navmesh_offset_z_m: 0 + verbose: true + occupancymap: + cell_size: 0.05 +task: + observation: {} + reward: {} + termination: + timeout_steps: 24000 + success_hold_frames: 1 + mmb: + task_id: N012 + agent_id: a03 + embodiment: stretch3 + level: easy + scene_seed: 4040 + layout: + S: + - -2.882389162195397 + - -1.9099442609418165 + - 0.43633231299858366 + tables: + A: + center: + - -1.0 + - 3.2 + size: + - 0.9 + - 0.6 + top: 0.5800000000000001 + color: + - 0.35 + - 0.37 + - 0.4 + B: + center: + - 2.6 + - 0.4 + size: + - 0.7 + - 1.0 + top: 0.5800000000000001 + color: + - 0.35 + - 0.37 + - 0.4 + stations: + A: + table: A + work_point: + - -1.0 + - 3.12 + arm_dir: + - 0.0 + - 1.0 + reach: 0.54 + fwd: 0.0 + stand: + - -1.0 + - 2.58 + - 1.5707963267948966 + B: + table: B + work_point: + - 2.45 + - 0.4 + arm_dir: + - 1.0 + - 0.0 + reach: 0.47 + fwd: 0.0 + stand: + - 1.9800000000000002 + - 0.4 + - 0.0 + hold_ticks: 40 + grace_ticks: 400 + water_settle_ticks: 120 + object_settle_ticks: 60 + planning: + avoid: + - dynamic + ignore: + - squeegee + - water + water: + max_particles: 1500 + platform: + center: + - 2.5 + - 0.4 + surface_z: 0.6000000000000001 + drain_x: 2.7 + puddle: + center: + - -0.04 + - 0.0 + size: + - 0.07 + - 0.06 + ml: 30.0 + medium_offset: + - 0.02 + - 0.05 + hard_gap: 0.14 + success: + min_in_trough: 0.7 + max_residual: 0.15 + max_spill: 0.1 + tool: + category: squeegee + asset: Squeegee + plate_z: 0.7200000000000001 + view: + eye: + - 3.12 + - -0.15000000000000002 + - 1.05 + target: + - 2.58 + - 0.4 + - 0.6000000000000001 + dr: + seed: 4040 + spawn_dxy: + - 0.118 + - -0.11 + friction_scale: + platform_1: 0.97 + rack_a0_1: 1.093 + squeegee_1: 1.075 + table_a_1: 1.063 + table_b_1: 0.981 + trough_1: 0.982 + moved: + squeegee_1: + - -0.0073 + - 0.0019 + - 0.44 + light_scale: 0.986 +collect: + command: + Squeegee: + stage_retries: 1 + robot_id: 0 + init_limit: 30 + max_attempt: 1 + completion_timeout_steps: 2400 + pre_back: 0.12 + lift: 0.1 + carry: + lateral: 0.52 + forward: 0.0 + z: 0.85 + blade_clearance: 0.0015 + approach_above: 0.07 + push: + x_start_world: 2.4 + x_end_world: 2.745 + segments: 5 + blade_x: 0.119 + blade_low: 0.105 + modes: + pre_grasp: -1 + grasp: 4 + lift: 4 + carry: -1 + pre_push: -1 + lower: 4 + push: 4 + retreat: 4 + global_planner: + NavTo: + use_navmesh: true + use_absolute: true + translation_threshold: 0.2 + rotation_threshold: 0.3 + num_path_segments: 30 + start_forward_offset: -0.25 + visualize_path: false + carry_arm: true + NavToTrim: + use_navmesh: false + carry_arm: true + visualize_path: false + trim_pos_threshold: 0.01 + trim_yaw_threshold: 0.015 + max_steps: 1500 + MobileMoveL: + translation_threshold: 0.006 + rotation_threshold: 0.2 + stall_release_ticks: 100 + stall_release_factor: 5.0 + motiongen_distance_threshold: 0.05 + timeout_steps: 3000 + timeout_done_tolerance: 0.06 + debug: false + debug_viz: false + debug_sphere: false + reactive: false + base_pos_threshold: 0.12 + base_rot_threshold: 0.5 + eef_pos_threshold: 0.03 + eef_rot_threshold: 0.3 + waypoint_max_steps: 8 + interp_steps: 60 + interp_validate_target: true + ParallelGripper: + gripper_threshold: 0.0005 + timeout_steps: 60 + atomic_skill: + NavToPose: + robot_id: 0 + position_threshold: 0.2 + angle_threshold: 0.3 + trim: false + Move: + robot_id: 0 + hand_id: 0 + arm_planner: MobileMoveL + hand_planner: ParallelGripper + ramp_steps: 0 + hold_steps: 60 + open_value: 0.0 + close_value: 1.0 + auto_collect: + task_type: squeegee + max_trajectories: 1 + record: + output_dir: /mnt/scratch/xc536_atomic/n012_go2_on_4040/out + formats: + - lerobot_v21 + - sim_info + clear_buffer_on_failure: true + lerobot: + subsample_every: 2 +visual_dr: + keep: + - Water + - trough diff --git a/N012/go2_arm/dr_on/seed_4040/report.json b/N012/go2_arm/dr_on/seed_4040/report.json new file mode 100644 index 0000000000000000000000000000000000000000..76a8b4d5875229e645d10a6f748028ef8f17d0ea --- /dev/null +++ b/N012/go2_arm/dr_on/seed_4040/report.json @@ -0,0 +1,10759 @@ +{ + "task": "N012", + "level": "easy", + "seed": 4040, + "episodes": [ + { + "task_id": "N012", + "task_version": "EXT60-MobileAvatar-v3", + "agent_id": "a03", + "family_id": "liquid_squeegee", + "primary_category": "C5", + "level": "easy", + "embodiment": "stretch3", + "scene_seed": 4040, + "execution_mode": "scripted_expert_chain: Task env -> Command -> AtomicSkill -> GlobalPlanner -> cuRobo; base by NavMesh + DWB (NavToPose), arm by MobileMoveL, hand by ParallelGripper", + "station_layout": { + "S": [ + -2.882389162195397, + -1.9099442609418165, + 0.43633231299858366 + ], + "tables": { + "A": { + "center": [ + -1.0, + 3.2 + ], + "size": [ + 0.9, + 0.6 + ], + "top": 0.5800000000000001, + "color": [ + 0.35, + 0.37, + 0.4 + ] + }, + "B": { + "center": [ + 2.6, + 0.4 + ], + "size": [ + 0.7, + 1.0 + ], + "top": 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The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [p[trough]\n\n\n[rack a0]e]\n\n\n\n\n [robot]" + }, + "task": { + "task_type": "Squeegee", + "instruction": "Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.", + "template_id": -1, + "slots": { + "obj": 1.5707963267948966, + "support": null + }, + "generic_instruction": "Squeegee the 1.5707963267948966.", + "task_id": "N012", + "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/N012/go2_arm/dr_on/seed_4040/squeegee/000/lerobot_v21/meta/info.json b/N012/go2_arm/dr_on/seed_4040/squeegee/000/lerobot_v21/meta/info.json new file mode 100644 index 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"bound_prims": 1 + } + ] + } + ] +} \ No newline at end of file diff --git a/N012/sawyer_umi/dr_off/seed_1101/check.json b/N012/sawyer_umi/dr_off/seed_1101/check.json new file mode 100644 index 0000000000000000000000000000000000000000..fb11d809618edb51e921cde4676d3b061786cdd2 --- /dev/null +++ b/N012/sawyer_umi/dr_off/seed_1101/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.'; expected 'Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2430 rows vs ceil(4860/2) = 2430" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 211..5069, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "57.48 MB, 2430 frames at 25 fps, mean luma 73..145, std 32, new picture 2429x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2430 vs 2430" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "51.10 MB, 2430 frames at 25 fps, mean luma 94..198, std 33, new picture 2429x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2430 vs 2430" + }, + "sim_info present": { + "pass": true, + "detail": "squeegee/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N012/sawyer_umi/dr_off/seed_1101/check.txt b/N012/sawyer_umi/dr_off/seed_1101/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..d57f7f3c7ffe1ccdd20518bed65edbf7cb45098c --- /dev/null +++ b/N012/sawyer_umi/dr_off/seed_1101/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n012_saw_off_1101/out task=N012 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n012_saw_off_1101/out/squeegee/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2430 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: 2430 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.'; expected 'Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.' +rows 2430 at dataset fps 25 = 97.20 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2430 rows vs ceil(4860/2) = 2430 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 211..5069, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 57.48 MB, 2430 frames at 25 fps, mean luma 73..145, std 32, new picture 2429x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2430 vs 2430 +[PASS] video observation.images.wrist decodes, 640x480, not black: 51.10 MB, 2430 frames at 25 fps, mean luma 94..198, std 33, new picture 2429x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2430 vs 2430 +parquet size 3.98 MB +[PASS] sim_info present: squeegee/000/sim_info +dataset size 112.86 MB; whole cell dir 116.3 MB +RESULT: ALL PASS diff --git a/N012/sawyer_umi/dr_off/seed_1101/config.yaml b/N012/sawyer_umi/dr_off/seed_1101/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..577ce4f514df993daef78137f0146515950e083f --- /dev/null +++ b/N012/sawyer_umi/dr_off/seed_1101/config.yaml @@ -0,0 +1,696 @@ +env_string: SqueegeeEnv-V0 +env: + sim: + device: cpu + use_fabric: false + decimation: 4 + dt: 0.005 + seed: 1101 + soft_resets: 1000000 + scene: + num_envs: 1 + env_spacing: 14 + render: + rendering_mode: performance + enable_reflections: false + enable_global_illumination: false + enable_translucency: false + enable_dl_denoiser: false + robot: + RidgebackSawyerUmi: + name: ridgebacksawyer_umi + type: mobilemanip + common: + pos: + - - -3.2105926784013246 + - -2.0374721128600393 + - 0.06 + - - -3.2105926784013246 + - -2.0374721128600393 + - 0.06 + ori: + - - 0 + - 0 + - 25.000000000000075 + - - 0 + - 0 + - 25.000000000000075 + initial_joint_pos: + dummy_base_.*: 0.0 + head_pan: 0.0 + right_j0: 0.0 + right_j1: -1.6 + right_j2: 0.0 + right_j3: 0.5 + right_j4: 0.0 + right_j5: 2.7 + right_j6: 0.0 + right_gripper_l_finger_joint: 0.0 + right_gripper_r_finger_joint: 0.0 + action: + base_action: holonomic_action + arm_action: ik_pink + eef_action: binary + planner: + dual_mode: true + base_joint_names: + - dummy_base_prismatic_x_joint + - dummy_base_prismatic_y_joint + - dummy_base_revolute_z_joint + ik: + type: ridgebacksawyer_umi + enable: true + ik_num_instances: 1 + ik_batch_size: 1 + ik_num_seeds: 32 + ik_max_goalset: 64 + ik_position_threshold: 0.005 + ik_rotation_threshold: 0.05 + microbatch_wait_ms: 20.0 + relative_to_world_frame: false + motiongen: + type: ridgebacksawyer_umi + enable: true + motiongen_num_instances: 1 + max_attempts: 6 + batch_size: 1 + microbatch_wait_ms: 20.0 + mode: position + relative_to_world_frame: false + start_state_limit_inset: 0.002 + num_trajopt_seeds: 2 + num_ik_seeds: 4 + body: + type: nav + dwb_type: dwb_holonomic + dwb_holonomic: + device: cpu + dt: 0.02 + debug: false + num_rollout_steps: 60 + num_speed_samples: 11 + num_steer_samples: 11 + num_vx_samples: 7 + num_vy_samples: 7 + num_yaw_samples: 7 + max_accel: 1.5 + max_steer_rate: 1.5 + max_accel_vx: 1.5 + max_accel_vy: 1.5 + max_yaw_accel: 1.5 + w_goal: 6.0 + w_path: 8.0 + w_vel: 0.2 + w_vy: 0.0 + goal_cost_mode: path + dilate_radius: 0.36 + room_size: 12.0 + occupancy_update_interval: 25 + scan_height: 0.38 + scan_min_z: 0.15 + scan_max_z: 1.68 + goal_pos_threshold: 0.03 + goal_yaw_threshold: 0.05 + kp_goal_yaw: 1.5 + heading_reference: path + turn_yaw_threshold: 0.8 + heading_lookahead: 0.8 + heading_min_leg: 0.35 + route_yaw_gain: 2.0 + goal_yaw_hysteresis: 0.02 + min_speed: -0.3 + max_speed: 0.3 + min_vx: -0.3 + max_vx: 0.3 + min_vy: -0.3 + max_vy: 0.3 + arm: + type: default + eef: + type: default + physics: + robot_radius: 0.8 + wheel_base: 0.01 + reset: default + camera: + enable_tiled: false + colorize_depth: false + head: + camera: + type: camera + mesh: pinhole + resolution: + - 640 + - 480 + frequency: 25 + focal_length: 2.0 + horizontal_aperture: 3.6 + vertical_aperture: 2.7 + clipping_range: + - 0.05 + - 30.0 + focus_distance: 3.0 + mode: RGB + mount_link: Robot_0/head + pos: + - 0.2166 + - 0.0 + - -0.045 + ori: + - -0.0 + - 35.0 + - -90.0 + annotator: + enabled: true + rgb_capture: + type: rgb + device: cpu + wrist: + camera: + type: camera + mesh: pinhole + resolution: + - 640 + - 480 + frequency: 25 + focal_length: 1.8 + horizontal_aperture: 3.6 + vertical_aperture: 2.7 + clipping_range: + - 0.05 + - 30.0 + focus_distance: 3.0 + mode: RGB + mount_link: Robot_0/right_electric_gripper_base + pos: + - 0.0598 + - 0.0 + - 0.03 + ori: + - 180.0 + - 0.0 + - -90.0 + annotator: + enabled: true + rgb_capture: + type: rgb + device: cpu + scene: + terrain: + type: nav_room + collision: true + hide_top_walls: true + usd: + - $MAGICSIM_ASSETS/Room/Collected_SimpleRoom + annotation: Annotation + random: false + pos: + - 0.0 + - 0.0 + - 0.0 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 1.0 + - 1.0 + - 1.0 + physics_material: + static_friction: 1.0 + dynamic_friction: 1.0 + restitution: 0.0 + friction_combine_mode: multiply + restitution_combine_mode: multiply + background: + intensity: + - 1000 + - 1000 + light: + light_1: + types: + - Dome + common: + pos: + - 0.0 + - 0.0 + - 0.0 + ori: + - 0.0 + - 0.0 + - 0.0 + color_temperature_range: + - 6500 + - 6500 + color_range: + - - 1.0 + - 1.0 + - 1.0 + - - 1.0 + - 1.0 + - 1.0 + Dome: + intensity_range: + - 910.1046742437546 + - 910.1046742437546 + water: + max_particles: 1500 + particle: + fluid_rest_offset: 0.0027 + ccd: true + look: + mode: spheres + color: + - 0.05 + - 0.45 + - 1.0 + bead_scale: 1.5 + retire: + floor_ttl: 3600.0 + max_age: 7200.0 + radius: 30.0 + below: -2.0 + objects: + table_a: + usd: + - Cube + num_per_env: 1 + random: false + table_a_1: + pos: + - -1.0 + - 3.2 + - 0.30500000000000005 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.9 + - 0.6 + - 0.55 + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - - 0.35 + - 0.37 + - 0.4 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.8608453031942663 + dynamic_friction: 0.6456339773956997 + restitution: 0.0 + table_b: + usd: + - Cube + num_per_env: 1 + random: false + table_b_1: + pos: + - 2.6 + - 0.4 + - 0.30500000000000005 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.7 + - 1.0 + - 0.55 + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - - 0.35 + - 0.37 + - 0.4 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.7321624556559265 + dynamic_friction: 0.5491218417419449 + restitution: 0.0 + squeegee: + usd: + - $MAGICSIM_ASSETS/Object/MMB/Squeegee/Object.usda + num_per_env: 1 + random: false + squeegee_1: + pos: + - -0.9980796674356291 + - 3.120707652531159 + - 0.7210000000000001 + ori: + - 0.0 + - 0.0 + - 88.85131493944291 + physics: + type: rigid + mass: 0.11593560206325 + physics_material: + static_friction: 1.5225100332594421 + dynamic_friction: 1.3321962791020117 + restitution: 0.0 + rack_a0: + usd: + - Cube + num_per_env: 1 + random: false + rack_a0_1: + pos: + - -1.0 + - 3.2065 + - 0.6485000000000001 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.1 + - 0.053000000000000005 + - 0.137 + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - - 0.45 + - 0.3 + - 0.18 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.8328288265591264 + dynamic_friction: 0.6246216199193447 + restitution: 0.0 + platform: + usd: + - $MAGICSIM_ASSETS/Object/MMB/Platform/Object.usda + num_per_env: 1 + random: false + platform_1: + pos: + - 2.5 + - 0.4 + - 0.6000000000000001 + ori: + - 0.0 + - 0.0 + - 0.0 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.7810973225997102 + dynamic_friction: 0.5858229919497826 + restitution: 0.0 + water: {} + trough: + usd: + - $MAGICSIM_ASSETS/Object/MMB/Trough/Object.usda + num_per_env: 1 + random: false + trough_1: + pos: + - 2.74 + - 0.4 + - 0.5950000000000001 + ori: + - 0.0 + - 0.0 + - 0.0 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.7414816856516464 + dynamic_friction: 0.5561112642387348 + restitution: 0.0 + water: {} + nav: + navmesh: + enabled: true + visualize: false + bake_timeout_s: 120 + agent_height_cm: 170 + min_agent_radius_cm: 55.0 + max_agent_radius_cm: 55.0 + max_step_height_cm: 20 + max_floor_slope_deg: 30 + agent_island_radius_cm: 5 + auto_exclude_rigid_bodies: true + validate_path_clearance: true + validate_path_window: true + navmesh_offset_z_m: 0 + verbose: true + occupancymap: + cell_size: 0.05 +task: + observation: {} + reward: {} + termination: + timeout_steps: 24000 + success_hold_frames: 1 + mmb: + task_id: N012 + agent_id: a03 + embodiment: stretch3 + level: easy + scene_seed: 1101 + layout: + S: + - -3.2105926784013246 + - -2.0374721128600393 + - 0.43633231299858366 + tables: + A: + center: + - -1.0 + - 3.2 + size: + - 0.9 + - 0.6 + top: 0.5800000000000001 + color: + - 0.35 + - 0.37 + - 0.4 + B: + center: + - 2.6 + - 0.4 + size: + - 0.7 + - 1.0 + top: 0.5800000000000001 + color: + - 0.35 + - 0.37 + - 0.4 + stations: + A: + table: A + work_point: + - -1.0 + - 3.12 + arm_dir: + - 0.0 + - 1.0 + reach: 0.8 + fwd: -0.021 + stand: + - -1.021 + - 2.3200000000000003 + - 1.5707963267948966 + B: + table: B + work_point: + - 2.45 + - 0.4 + arm_dir: + - 1.0 + - 0.0 + reach: 1.05 + fwd: -0.021 + stand: + - 1.4000000000000001 + - 0.42100000000000004 + - 0.0 + hold_ticks: 40 + grace_ticks: 400 + water_settle_ticks: 120 + object_settle_ticks: 60 + planning: + avoid: + - dynamic + ignore: + - squeegee + - water + water: + max_particles: 1500 + platform: + center: + - 2.5 + - 0.4 + surface_z: 0.6000000000000001 + drain_x: 2.7 + puddle: + center: + - -0.04 + - 0.0 + size: + - 0.07 + - 0.06 + ml: 30.0 + medium_offset: + - 0.02 + - 0.05 + hard_gap: 0.14 + success: + min_in_trough: 0.7 + max_residual: 0.15 + max_spill: 0.1 + tool: + category: squeegee + asset: Squeegee + plate_z: 0.7200000000000001 + view: + eye: + - 3.12 + - -0.15000000000000002 + - 1.05 + target: + - 2.58 + - 0.4 + - 0.6000000000000001 + dr: + seed: 1101 + spawn_dxy: + - -0.211 + - -0.237 + friction_scale: + platform_1: 0.976 + rack_a0_1: 1.041 + squeegee_1: 0.952 + table_a_1: 1.076 + table_b_1: 0.915 + trough_1: 0.927 + moved: + squeegee_1: + - 0.0019 + - 0.0007 + - -1.15 + light_scale: 1.011 +collect: + command: + Squeegee: + stage_retries: 1 + robot_id: 0 + init_limit: 30 + max_attempt: 1 + completion_timeout_steps: 2400 + pre_back: 0.12 + lift: 0.1 + carry: + lateral: 0.52 + forward: 0.0 + z: 0.85 + blade_clearance: 0.0015 + approach_above: 0.07 + push: + x_start_world: 2.4 + x_end_world: 2.745 + segments: 5 + blade_x: 0.119 + blade_low: 0.105 + modes: + pre_grasp: -1 + grasp: 4 + lift: 4 + carry: 4 + pre_push: -1 + lower: 4 + push: 4 + retreat: 4 + grasp_pitch_deg: 20.0 + global_planner: + NavTo: + use_navmesh: true + use_absolute: true + translation_threshold: 0.04 + rotation_threshold: 0.1 + num_path_segments: 30 + start_forward_offset: 0.0 + visualize_path: false + carry_arm: true + NavToTrim: + use_navmesh: false + carry_arm: true + visualize_path: false + trim_pos_threshold: 0.01 + trim_yaw_threshold: 0.015 + max_steps: 1500 + MobileMoveL: + translation_threshold: 0.008 + rotation_threshold: 0.08 + stall_release_ticks: 80 + stall_release_factor: 2.5 + motiongen_distance_threshold: 0.0 + timeout_steps: 3600 + timeout_done_tolerance: 0.06 + debug: false + debug_viz: false + debug_sphere: false + reactive: false + base_pos_threshold: 0.025 + base_rot_threshold: 0.05 + eef_pos_threshold: 0.03 + eef_rot_threshold: 0.1 + waypoint_max_steps: 30 + interp_steps: 120 + ParallelGripper: + gripper_threshold: 0.001 + atomic_skill: + NavToPose: + robot_id: 0 + position_threshold: 0.08 + angle_threshold: 0.1 + trim: false + Move: + robot_id: 0 + hand_id: 0 + arm_planner: MobileMoveL + hand_planner: ParallelGripper + ramp_steps: 0 + hold_steps: 60 + open_value: 0.0 + close_value: 1.0 + auto_collect: + task_type: squeegee + max_trajectories: 1 + record: + output_dir: /mnt/scratch/xc536_atomic/n012_saw_off_1101/out + formats: + - lerobot_v21 + - sim_info + clear_buffer_on_failure: true + lerobot: + subsample_every: 2 +visual_dr: + keep: + - Water + - trough diff --git a/N012/sawyer_umi/dr_off/seed_1101/report.json b/N012/sawyer_umi/dr_off/seed_1101/report.json new file mode 100644 index 0000000000000000000000000000000000000000..ea89b66434482fea5c9528262b456940fbbafea1 --- /dev/null +++ b/N012/sawyer_umi/dr_off/seed_1101/report.json @@ -0,0 +1,19012 @@ +{ + "task": "N012", + "level": "easy", + "seed": 1101, + "episodes": [ + { + "task_id": 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There are a large gray table a, a large gray table b, a medium squeegee, a large brown rack a0, a medium platform and a small trough. The gray table b is in front of the platform. The squeegee is on top of the brown rack a0. The squeegee is to the right of the brown rack a0. The brown rack a0 is to the left of the squeegee. The platform is to the left of the trough. The trough is to the right of the platform. The scene is lit by a cool light from the front. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [p[trough]\n\n\n[rack a0]e]\n\n\n\n\n [robot]" + }, + "task": { + "task_type": "Squeegee", + "instruction": "Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.", + "template_id": -1, + "slots": { + "obj": 1.5707963267948966, + "support": null + }, + "generic_instruction": "Squeegee the 1.5707963267948966.", + "task_id": "N012", + "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/N012/sawyer_umi/dr_off/seed_1101/squeegee/000/lerobot_v21/meta/info.json b/N012/sawyer_umi/dr_off/seed_1101/squeegee/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..34bb55912d1ec8bc6b9616837e3cb2ce6e7637cd --- /dev/null +++ b/N012/sawyer_umi/dr_off/seed_1101/squeegee/000/lerobot_v21/meta/info.json @@ -0,0 +1,796 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 2430, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z", + "gripper" + ] + }, + "action_is_hold": { + 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planner command dict (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": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.21660000085830688, + 0.0, + -0.04500000178813934 + ], + "quat": [ + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + }, + "wrist": { + "intrinsics": { + "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": [ + 0.05979999899864197, + 0.0, + 0.029999999329447746 + ], + "quat": [ + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + } + }, + "generated_run": { + "run_id": "squeegee/000", + "task_type": "Squeegee" + } +} \ No newline at end of file diff --git a/N012/stretch3/dr_on/seed_4034/check.json b/N012/stretch3/dr_on/seed_4034/check.json new file mode 100644 index 0000000000000000000000000000000000000000..e25f4efd39b869f8a259046b4f743b2c26fddbba --- /dev/null +++ b/N012/stretch3/dr_on/seed_4034/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 tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.'; expected 'Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2387 rows vs ceil(4774/2) = 2387" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 211..4983, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "67.39 MB, 2387 frames at 25 fps, mean luma 19..93, std 20, new picture 2386x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2387 vs 2387" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "36.72 MB, 2387 frames at 25 fps, mean luma 36..101, std 38, new picture 2386x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2387 vs 2387" + }, + "sim_info present": { + "pass": true, + "detail": "squeegee/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N012/stretch3/dr_on/seed_4034/check.txt b/N012/stretch3/dr_on/seed_4034/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..60e35ce4ba598aae1f4e078022d0e7a2e1ae8c18 --- /dev/null +++ b/N012/stretch3/dr_on/seed_4034/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n012_str_on_4034/out task=N012 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n012_str_on_4034/out/squeegee/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2387 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: 2387 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 tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.'; expected 'Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.' +rows 2387 at dataset fps 25 = 95.48 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2387 rows vs ceil(4774/2) = 2387 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 211..4983, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 67.39 MB, 2387 frames at 25 fps, mean luma 19..93, std 20, new picture 2386x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2387 vs 2387 +[PASS] video observation.images.wrist decodes, 640x480, not black: 36.72 MB, 2387 frames at 25 fps, mean luma 36..101, std 38, new picture 2386x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2387 vs 2387 +parquet size 4.72 MB +[PASS] sim_info present: squeegee/000/sim_info +dataset size 109.13 MB; whole cell dir 113.3 MB +RESULT: ALL PASS diff --git a/N012/stretch3/dr_on/seed_4034/config.yaml b/N012/stretch3/dr_on/seed_4034/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..92f42c177dd0ad63895008dc0f195fd1ae86185a --- /dev/null +++ b/N012/stretch3/dr_on/seed_4034/config.yaml @@ -0,0 +1,699 @@ +env_string: SqueegeeEnv-V0 +env: + sim: + device: cpu + use_fabric: false + decimation: 4 + dt: 0.005 + seed: 4034 + soft_resets: 1000000 + scene: + num_envs: 1 + env_spacing: 14 + render: + rendering_mode: performance + enable_reflections: false + enable_global_illumination: false + enable_translucency: false + enable_dl_denoiser: false + robot: + HelloRobot: + name: hellorobot + type: mobilemanip + common: + pos: + - - -3.0752870035224182 + - -1.6704362604518777 + - 0.06 + - - -3.0752870035224182 + - -1.6704362604518777 + - 0.06 + ori: + - - 0 + - 0 + - -120.00000000000001 + - - 0 + - 0 + - -120.00000000000001 + initial_joint_pos: + joint_lift: 0.55 + joint_arm_l[0-3]: 0.025 + joint_wrist_yaw: 0.0 + joint_wrist_roll: 1.5707963267948966 + action: + base_action: differential_virtual + arm_action: ik_abs + eef_action: binary + planner: + dual_mode: true + base_joint_names: + - dummy_base_prismatic_x_joint + - dummy_base_prismatic_y_joint + - dummy_base_revolute_z_joint + obstacle_ignore_categories: [] + ik: + type: hellorobot + enable: true + ik_num_instances: 1 + ik_batch_size: 1 + ik_num_seeds: 32 + ik_max_goalset: 1 + ik_position_threshold: 0.003 + ik_rotation_threshold: 0.02 + microbatch_wait_ms: 1.0 + seed_use_live_joint_pos: true + motiongen: + type: hellorobot + enable: true + motiongen_num_instances: 1 + batch_size: 1 + microbatch_wait_ms: 1.0 + seed_use_live_joint_pos: true + mode: position + num_trajopt_seeds: 1 + num_ik_seeds: 4 + body: + type: nav + dwb_type: dwb_differential + dwb_differential: + device: cpu + dt: 0.02 + debug: false + num_rollout_steps: 60 + num_speed_samples: 11 + num_steer_samples: 11 + num_vx_samples: 7 + num_vy_samples: 7 + num_yaw_samples: 7 + max_accel: 1.5 + max_steer_rate: 1.5 + max_accel_vx: 1.5 + max_accel_vy: 1.5 + max_yaw_accel: 1.5 + w_goal: 6.0 + w_path: 8.0 + w_vel: 0.2 + w_vy: 0.0 + dilate_radius: 0.4 + room_size: 12.0 + occupancy_update_interval: 50 + scan_height: 0.45 + scan_min_z: 0.22 + scan_max_z: 1.75 + goal_pos_threshold: 0.07 + goal_yaw_threshold: 0.15 + kp_goal_yaw: 1.5 + min_speed: -0.3 + max_speed: 0.3 + w_heading: 0.5 + min_yaw_rate: -0.8 + max_yaw_rate: 0.8 + safety_enabled: true + safety_deceleration: 0.5 + safety_reaction_time: 0.5 + goal_heading_fade_distance: 0.5 + scan_type: 3d + own_body_clear: true + own_body_radius: 0.15 + p_controller: + kp_angular_turning_only: 2.0 + kd_angular_turning_only: 0.2 + kp_linear_x: 2.0 + kp_linear_y: 2.0 + kp_angular: 2.0 + kd_linear_x: 0.1 + kd_linear_y: 0.1 + min_vel: -0.25 + max_vel: 0.35 + linear_dead_zone: 0.003 + angular_dead_zone: 0.008 + nav_heading_target: 1 + velocity_frame: world + arm: + type: default + eef: + type: default + physics: + robot_radius: 0.4 + wheel_base: 0.5 + reset: default + camera: + enable_tiled: false + colorize_depth: false + head: + camera: + type: camera + mesh: pinhole + resolution: + - 640 + - 480 + frequency: 25 + focal_length: 2.73834228515625 + horizontal_aperture: 2.1600000858306885 + vertical_aperture: 1.62 + clipping_range: + - 0.05 + - 30.0 + focus_distance: 3.0 + mode: RGB + mount_link: Robot_0/base_link + pos: + - 0.049771 + - -0.002942 + - 1.295723 + ori: + - 0.0002 + - -55.623 + - -90.0 + annotator: + enabled: true + rgb_capture: + type: rgb + device: cpu + wrist: + camera: + type: camera + mesh: pinhole + resolution: + - 640 + - 480 + frequency: 25 + focal_length: 1.280753493309021 + horizontal_aperture: 1.9199999570846558 + vertical_aperture: 1.44 + clipping_range: + - 0.05 + - 30.0 + focus_distance: 3.0 + mode: RGB + mount_link: Robot_0/link_gripper_s3_body + pos: + - 0.009 + - 0.062939 + - 0.056398 + ori: + - -170.0021 + - 0.0 + - -179.9998 + annotator: + enabled: true + rgb_capture: + type: rgb + device: cpu + scene: + terrain: + type: nav_room + collision: true + hide_top_walls: true + usd: + - $MAGICSIM_ASSETS/Room/Collected_SimpleRoom + annotation: Annotation + random: false + pos: + - 0.0 + - 0.0 + - 0.0 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 1.0 + - 1.0 + - 1.0 + physics_material: + static_friction: 1.0 + dynamic_friction: 1.0 + restitution: 0.0 + friction_combine_mode: multiply + restitution_combine_mode: multiply + background: + intensity: + - 1000 + - 1000 + light: + light_1: + types: + - Dome + common: + pos: + - 0.0 + - 0.0 + - 0.0 + ori: + - 0.0 + - 0.0 + - 0.0 + color_temperature_range: + - 6500 + - 6500 + color_range: + - - 1.0 + - 1.0 + - 1.0 + - - 1.0 + - 1.0 + - 1.0 + Dome: + intensity_range: + - 900.4386068569328 + - 900.4386068569328 + water: + max_particles: 1500 + particle: + fluid_rest_offset: 0.0027 + ccd: true + look: + mode: spheres + color: + - 0.05 + - 0.45 + - 1.0 + bead_scale: 1.5 + retire: + floor_ttl: 3600.0 + max_age: 7200.0 + radius: 30.0 + below: -2.0 + objects: + table_a: + usd: + - Cube + num_per_env: 1 + random: false + table_a_1: + pos: + - -1.0 + - 3.2 + - 0.30500000000000005 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.9 + - 0.6 + - 0.55 + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - - 0.35 + - 0.37 + - 0.4 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.7638246464196663 + dynamic_friction: 0.5728684848147497 + restitution: 0.0 + table_b: + usd: + - Cube + num_per_env: 1 + random: false + table_b_1: + pos: + - 2.6 + - 0.4 + - 0.30500000000000005 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.7 + - 1.0 + - 0.55 + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - - 0.35 + - 0.37 + - 0.4 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.7609359757794963 + dynamic_friction: 0.5707019818346222 + restitution: 0.0 + squeegee: + usd: + - $MAGICSIM_ASSETS/Object/MMB/Squeegee/Object.usda + num_per_env: 1 + random: false + squeegee_1: + pos: + - -1.00270872546893 + - 3.1205230704554845 + - 0.7210000000000001 + ori: + - 0.0 + - 0.0 + - 87.9322461586 + physics: + type: rigid + mass: 0.13133569547661803 + physics_material: + static_friction: 1.7428505661374718 + dynamic_friction: 1.5249942453702878 + restitution: 0.0 + rack_a0: + usd: + - Cube + num_per_env: 1 + random: false + rack_a0_1: + pos: + - -1.0 + - 3.2065 + - 0.6485000000000001 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.1 + - 0.053000000000000005 + - 0.137 + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - - 0.45 + - 0.3 + - 0.18 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.7462050791256692 + dynamic_friction: 0.5596538093442519 + restitution: 0.0 + platform: + usd: + - $MAGICSIM_ASSETS/Object/MMB/Platform/Object.usda + num_per_env: 1 + random: false + platform_1: + pos: + - 2.5 + - 0.4 + - 0.6000000000000001 + ori: + - 0.0 + - 0.0 + - 0.0 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.8359426087560756 + dynamic_friction: 0.6269569565670566 + restitution: 0.0 + water: {} + trough: + usd: + - $MAGICSIM_ASSETS/Object/MMB/Trough/Object.usda + num_per_env: 1 + random: false + trough_1: + pos: + - 2.74 + - 0.4 + - 0.5950000000000001 + ori: + - 0.0 + - 0.0 + - 0.0 + physics: + type: geometry + collision: true + physics_material: + static_friction: 0.8087908754130645 + dynamic_friction: 0.6065931565597983 + restitution: 0.0 + water: {} + nav: + navmesh: + enabled: true + visualize: false + bake_timeout_s: 120 + agent_height_cm: 170 + min_agent_radius_cm: 55.0 + max_agent_radius_cm: 55.0 + max_step_height_cm: 20 + max_floor_slope_deg: 30 + agent_island_radius_cm: 5 + auto_exclude_rigid_bodies: true + validate_path_clearance: true + validate_path_window: true + navmesh_offset_z_m: 0 + verbose: true + occupancymap: + cell_size: 0.05 +task: + observation: {} + reward: {} + termination: + timeout_steps: 24000 + success_hold_frames: 1 + mmb: + task_id: N012 + agent_id: a03 + embodiment: stretch3 + level: easy + scene_seed: 4034 + layout: + S: + - -3.0752870035224182 + - -1.6704362604518777 + - -2.0943951023931957 + tables: + A: + center: + - -1.0 + - 3.2 + size: + - 0.9 + - 0.6 + top: 0.5800000000000001 + color: + - 0.35 + - 0.37 + - 0.4 + B: + center: + - 2.6 + - 0.4 + size: + - 0.7 + - 1.0 + top: 0.5800000000000001 + color: + - 0.35 + - 0.37 + - 0.4 + stations: + A: + table: A + work_point: + - -1.0 + - 3.12 + arm_dir: + - 0.0 + - 1.0 + reach: 0.8 + fwd: -0.021 + stand: + - -1.021 + - 2.3200000000000003 + - -3.141592653589793 + B: + table: B + work_point: + - 2.45 + - 0.4 + arm_dir: + - 1.0 + - 0.0 + reach: 0.7 + fwd: -0.021 + stand: + - 1.7500000000000002 + - 0.42100000000000004 + - 1.5707963267948966 + hold_ticks: 40 + grace_ticks: 400 + water_settle_ticks: 120 + object_settle_ticks: 60 + planning: + avoid: + - dynamic + ignore: + - squeegee + - water + water: + max_particles: 1500 + platform: + center: + - 2.5 + - 0.4 + surface_z: 0.6000000000000001 + drain_x: 2.7 + puddle: + center: + - -0.04 + - 0.0 + size: + - 0.07 + - 0.06 + ml: 30.0 + medium_offset: + - 0.02 + - 0.05 + hard_gap: 0.14 + success: + min_in_trough: 0.7 + max_residual: 0.15 + max_spill: 0.1 + tool: + category: squeegee + asset: Squeegee + plate_z: 0.7200000000000001 + view: + eye: + - 3.12 + - -0.15000000000000002 + - 1.05 + target: + - 2.58 + - 0.4 + - 0.6000000000000001 + dr: + seed: 4034 + spawn_dxy: + - -0.075 + - 0.13 + friction_scale: + platform_1: 1.045 + rack_a0_1: 0.933 + squeegee_1: 1.089 + table_a_1: 0.955 + table_b_1: 0.951 + trough_1: 1.011 + moved: + squeegee_1: + - -0.0027 + - 0.0005 + - -2.07 + light_scale: 1.0 +collect: + command: + Squeegee: + stage_retries: 1 + robot_id: 0 + init_limit: 30 + max_attempt: 1 + completion_timeout_steps: 2400 + pre_back: 0.12 + lift: 0.1 + carry: + lateral: 0.52 + forward: 0.0 + z: 0.85 + blade_clearance: 0.0015 + approach_above: 0.07 + push: + x_start_world: 2.4 + x_end_world: 2.745 + segments: 5 + blade_x: 0.119 + blade_low: 0.105 + modes: + pre_grasp: -1 + grasp: 4 + lift: 4 + carry: -1 + pre_push: -1 + lower: 4 + push: 4 + retreat: 4 + global_planner: + NavTo: + use_navmesh: true + use_absolute: true + translation_threshold: 0.15 + rotation_threshold: 3.3 + num_path_segments: 30 + start_forward_offset: 0.0 + visualize_path: false + carry_arm: true + NavToTrim: + use_navmesh: false + carry_arm: true + visualize_path: false + trim_pos_threshold: 0.01 + trim_yaw_threshold: 0.015 + max_steps: 1500 + MobileMoveL: + translation_threshold: 0.008 + rotation_threshold: 0.08 + stall_release_ticks: 80 + stall_release_factor: 2.5 + motiongen_distance_threshold: 0.0 + timeout_steps: 900 + debug: false + debug_viz: false + debug_sphere: false + reactive: false + base_pos_threshold: 0.025 + base_rot_threshold: 0.05 + eef_pos_threshold: 0.03 + eef_rot_threshold: 0.1 + waypoint_max_steps: 30 + interp_steps: 120 + ParallelGripper: + gripper_threshold: 0.001 + atomic_skill: + NavToPose: + robot_id: 0 + position_threshold: 0.15 + angle_threshold: 3.3 + trim: true + Move: + robot_id: 0 + hand_id: 0 + arm_planner: MobileMoveL + hand_planner: ParallelGripper + ramp_steps: 0 + hold_steps: 60 + open_value: 0.0 + close_value: 1.0 + auto_collect: + task_type: squeegee + max_trajectories: 1 + record: + output_dir: /mnt/scratch/xc536_atomic/n012_str_on_4034/out + formats: + - lerobot_v21 + - sim_info + clear_buffer_on_failure: true + lerobot: + subsample_every: 2 +visual_dr: + keep: + - Water + - trough diff --git a/N012/stretch3/dr_on/seed_4034/report.json b/N012/stretch3/dr_on/seed_4034/report.json new file mode 100644 index 0000000000000000000000000000000000000000..f0f2836cbb15a3eb6ed6f6bed4229e635aa2fda8 --- /dev/null +++ b/N012/stretch3/dr_on/seed_4034/report.json @@ -0,0 +1,19473 @@ +{ + "task": "N012", + "level": "easy", + "seed": 4034, + "episodes": [ + { + "task_id": "N012", + "task_version": "EXT60-MobileAvatar-v3", + "agent_id": "a03", + "family_id": "liquid_squeegee", + "primary_category": "C5", + "level": "easy", + "embodiment": "stretch3", + "scene_seed": 4034, + "execution_mode": "scripted_expert_chain: Task env -> Command -> AtomicSkill -> GlobalPlanner -> cuRobo; base by NavMesh + DWB (NavToPose), arm by MobileMoveL, hand by ParallelGripper", + "station_layout": { + "S": [ + -3.0752870035224182, + -1.6704362604518777, + -2.0943951023931957 + ], + "tables": { + "A": { + "center": [ + -1.0, + 3.2 + 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There are a large gray table a, a large gray table b, a medium squeegee, a large brown rack a0, a medium platform and a small trough. The gray table b is to the left of the platform. The squeegee is on top of the brown rack a0. The squeegee is in front of the brown rack a0. The brown rack a0 is behind the squeegee. The platform is to the right of the trough. The trough is to the left of the platform. The scene is lit by a cool light from the back-left. The scene is viewed from back-left, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [robot]\n\n\n\n\n\n\n[trough]rm]\n [[rack a0]" + }, + "task": { + "task_type": "Squeegee", + "instruction": "Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.", + "template_id": -1, + "slots": { + "obj": -3.141592653589793, + "support": null + }, + "generic_instruction": "Squeegee the -3.141592653589793.", + "task_id": "N012", + "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/N012/stretch3/dr_on/seed_4034/squeegee/000/lerobot_v21/meta/info.json b/N012/stretch3/dr_on/seed_4034/squeegee/000/lerobot_v21/meta/info.json new file mode 100644 index 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+ "bound_prims": 1 + } + ] + } + ] +} \ No newline at end of file diff --git a/N022/sawyer_umi/dr_on/seed_2049/check.json b/N022/sawyer_umi/dr_on/seed_2049/check.json new file mode 100644 index 0000000000000000000000000000000000000000..a2d6f2ae13976ee68ae466cdd5588bf7a0367c91 --- /dev/null +++ b/N022/sawyer_umi/dr_on/seed_2049/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 puzzle block, carry it to the rail, and slide it along the rail until it reaches the end stop.'; expected 'Go to the table, pick up the puzzle block, carry it to the rail, and slide it along the rail until it reaches the end stop.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1510 rows vs ceil(3019/2) = 1510" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..3049, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "36.48 MB, 1510 frames at 25 fps, mean luma 85..116, std 43, new picture 1509x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1510 vs 1510" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "40.54 MB, 1510 frames at 25 fps, mean luma 89..159, std 32, new picture 1509x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1510 vs 1510" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N022/sawyer_umi/dr_on/seed_2049/check.txt b/N022/sawyer_umi/dr_on/seed_2049/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..12706f9d3188729f633b948d5399bc535cd79976 --- /dev/null +++ b/N022/sawyer_umi/dr_on/seed_2049/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n022_saw_on_2049/out task=N022 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n022_saw_on_2049/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1510 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: 1510 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 puzzle block, carry it to the rail, and slide it along the rail until it reaches the end stop.'; expected 'Go to the table, pick up the puzzle block, carry it to the rail, and slide it along the rail until it reaches the end stop.' +rows 1510 at dataset fps 25 = 60.40 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1510 rows vs ceil(3019/2) = 1510 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..3049, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 36.48 MB, 1510 frames at 25 fps, mean luma 85..116, std 43, new picture 1509x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1510 vs 1510 +[PASS] video observation.images.wrist decodes, 640x480, not black: 40.54 MB, 1510 frames at 25 fps, mean luma 89..159, std 32, new picture 1509x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1510 vs 1510 +parquet size 2.14 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 79.33 MB; whole cell dir 80.3 MB +RESULT: ALL PASS diff --git a/N022/sawyer_umi/dr_on/seed_2049/report.json b/N022/sawyer_umi/dr_on/seed_2049/report.json new file mode 100644 index 0000000000000000000000000000000000000000..9cef119fc9b50c9c8f68f54578cd3016d2562efa --- /dev/null +++ b/N022/sawyer_umi/dr_on/seed_2049/report.json @@ -0,0 +1,1919 @@ +{ + "task": "N022", + "agent_id": null, + "embodiment": "sawyer_umi", + "level": "easy", + "scene_seed": 2049, + "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)", + "config": 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] + }, + "material_library": { + "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/N025/go2_arm/dr_off/seed_1069/check.json b/N025/go2_arm/dr_off/seed_1069/check.json new file mode 100644 index 0000000000000000000000000000000000000000..da2d2380ab6e4eed6574788383b7173941b2bcdc --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1069/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 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": "1906 rows vs ceil(3812/2) = 1906" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..3841, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "19.34 MB, 1906 frames at 25 fps, mean luma 111..141, std 24, new picture 1905x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1906 vs 1906" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "30.60 MB, 1906 frames at 25 fps, mean luma 113..172, std 32, new picture 1905x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1906 vs 1906" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N025/go2_arm/dr_off/seed_1069/check.txt b/N025/go2_arm/dr_off/seed_1069/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..dc6bbc6743986b37cde7d8f28bed6e3ecd774728 --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1069/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_go2_off_1069/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_go2_off_1069/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1906 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: 1906 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 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 1906 at dataset fps 25 = 76.24 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1906 rows vs ceil(3812/2) = 1906 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..3841, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 19.34 MB, 1906 frames at 25 fps, mean luma 111..141, std 24, new picture 1905x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1906 vs 1906 +[PASS] video observation.images.wrist decodes, 640x480, not black: 30.60 MB, 1906 frames at 25 fps, mean luma 113..172, std 32, new picture 1905x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1906 vs 1906 +parquet size 20.13 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 70.33 MB; whole cell dir 71.9 MB +RESULT: ALL PASS diff --git a/N025/go2_arm/dr_off/seed_1069/report.json b/N025/go2_arm/dr_off/seed_1069/report.json new file mode 100644 index 0000000000000000000000000000000000000000..a8dfc39d8fd28666fab297372ffae1812357bbda --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1069/report.json @@ -0,0 +1,2324 @@ +{ + "task": "N025", + "agent_id": null, + 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0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N025/go2_arm/dr_off/seed_1069/stationassembly/000/sim_info/0/scene_snapshot.json b/N025/go2_arm/dr_off/seed_1069/stationassembly/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..56bd9e2bf2d42f361b55124eab1704da5f4d277a --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1069/stationassembly/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,348 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationassembly/000", + "task_type": "StationAssembly", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "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": true + }, + "physics": { + "type": "geometry", + "collision": true, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + } + }, + "type_specific": {} + } + ], + "shim_board": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MobileAssembly/shim_board_a05/Object.usd", + "pose": { + "pos": [ + 1.2302299737930298, + 3.1160900592803955, + 0.4300000071525574 + ], + "ori": [ + 0.7178263068199158, + 0.0, + 0.0, + -0.6962222456932068 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "collision": true, + "fixed_base": true, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.05235988274216652 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "wedge": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MobileAssembly/wedge_a05/Object.usd", + "pose": { + "pos": [ + -1.9696998596191406, + 1.4397599697113037, + 0.429999977350235 + ], + "ori": [ + 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file mode 100644 index 0000000000000000000000000000000000000000..855fef11217765a95f28f8c98dd3f7ff09359adb --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1069/stationassembly/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1eed25456b231e1289eb47eecb59e9dfaebbb66626110da3a1a7f8d6e905e15 +size 843956 diff --git a/N025/go2_arm/dr_off/seed_1069/stationassembly/000/sim_info/magicsim_manifest.json b/N025/go2_arm/dr_off/seed_1069/stationassembly/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..421613e67fc6f4f1f42492cc791766c627e2fe11 --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1069/stationassembly/000/sim_info/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 11:17:37" + }, + "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": { + "dim": 12, + "nan_policy": "from_raw", + "segments": [ + { + "name": "Go2Plus.base_action", + "start": 0, + "end": 4, + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3" + ], + "source": "Go2UnifiedLocomotionAction", + "names_source": "fallback" + }, + { + "name": "Go2Plus.arm_action", + "start": 4, + "end": 11, + "names": [ + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z" + ], + "source": "Go2PlusCuroboIKAction", + "names_source": "pose_layout" + }, + { + "name": "Go2Plus.eef_action", + "start": 11, + "end": 12, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 26, + "segments": [ + { + "name": "Go2Plus.joint_pos", + "start": 0, + "end": 24, + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23" + ], + "source": "ObservationManager", + "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)" + }, + { + "name": "Go2Plus.gripper_pos", + "start": 24, + "end": 26, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 20, + "segments": [ + { + "name": "Go2Plus.joint_vel", + "start": 0, + "end": 20, + "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" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (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": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726 + ], + "quat": [ + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587 + ], + "quat": [ + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + } + }, + "generated_run": { + "run_id": "stationassembly/000", + "task_type": "StationAssembly" + } +} \ No newline at end of file diff --git a/N025/go2_arm/dr_on/seed_2062/check.json b/N025/go2_arm/dr_on/seed_2062/check.json new file mode 100644 index 0000000000000000000000000000000000000000..34f00405a63d500241c414e777af8246b20684b7 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2062/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 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": "1668 rows vs ceil(3335/2) = 1668" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..3365, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "23.02 MB, 1668 frames at 25 fps, mean luma 71..125, std 37, new picture 1667x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1668 vs 1668" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "25.61 MB, 1668 frames at 25 fps, mean luma 90..159, std 27, new picture 1667x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1668 vs 1668" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N025/go2_arm/dr_on/seed_2062/check.txt b/N025/go2_arm/dr_on/seed_2062/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..2743cabc1b84dbe08abb86c830d0940e847c1f03 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2062/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_go2_on_2062/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_go2_on_2062/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1668 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: 1668 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 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 1668 at dataset fps 25 = 66.72 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1668 rows vs ceil(3335/2) = 1668 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..3365, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 23.02 MB, 1668 frames at 25 fps, mean luma 71..125, std 37, new picture 1667x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1668 vs 1668 +[PASS] video observation.images.wrist decodes, 640x480, not black: 25.61 MB, 1668 frames at 25 fps, mean luma 90..159, std 27, new picture 1667x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1668 vs 1668 +parquet size 18.42 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 67.30 MB; whole cell dir 68.8 MB +RESULT: ALL PASS diff --git a/N025/go2_arm/dr_on/seed_2062/report.json b/N025/go2_arm/dr_on/seed_2062/report.json new file mode 100644 index 0000000000000000000000000000000000000000..ca497d2ddb509d8f9b72ee177d95f0e35a264851 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2062/report.json @@ -0,0 +1,2084 @@ +{ + "task": "N025", + "agent_id": null, + "embodiment": "go2_arm", + "level": "easy", + "scene_seed": 2062, + "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, 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null, + "time_of_day": null, + "indoor": false, + "intensity": 864.7864, + "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 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]]\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_0591": { + "frame_idx": 591, + "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of 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", + 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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", + "in_front_of" + ] + }, + "frame_1010": { + "frame_idx": 1010, + "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_1023": { + "frame_idx": 1023, + "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_1340": { + "frame_idx": 1340, 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"/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/N026/sawyer_umi/dr_off/seed_1061/data/check.json b/N026/sawyer_umi/dr_off/seed_1061/data/check.json new file mode 100644 index 0000000000000000000000000000000000000000..0ff5bdb9941f0d3a8cd60578038c3b28bc1d16c3 --- /dev/null +++ b/N026/sawyer_umi/dr_off/seed_1061/data/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the tool rack, pick up the hook, carry it to the channel, and use the hook to pull the ring out onto the marked square.'; expected 'Go to the tool rack, pick up the hook, carry it to the channel, and use the hook to pull the ring out onto the marked square.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "3140 rows vs ceil(6280/2) = 3140" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 61..6339, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "38.01 MB, 3140 frames at 25 fps, mean luma 36..147, std 31, new picture 3139x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "3140 vs 3140" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "48.86 MB, 3140 frames at 25 fps, mean luma 112..146, std 24, new picture 3139x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "3140 vs 3140" + }, + "sim_info present": { + "pass": true, + "detail": "mobiletooltask/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N026/sawyer_umi/dr_off/seed_1061/data/check.txt b/N026/sawyer_umi/dr_off/seed_1061/data/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..bbb905e587222565d6a3b0214017a4e8b12da145 --- /dev/null +++ b/N026/sawyer_umi/dr_off/seed_1061/data/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n026_saw_off_1061/out/data task=N026 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n026_saw_off_1061/out/data/mobiletooltask/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 3140 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: 3140 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the tool rack, pick up the hook, carry it to the channel, and use the hook to pull the ring out onto the marked square.'; expected 'Go to the tool rack, pick up the hook, carry it to the channel, and use the hook to pull the ring out onto the marked square.' +rows 3140 at dataset fps 25 = 125.60 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3140 rows vs ceil(6280/2) = 3140 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6339, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 38.01 MB, 3140 frames at 25 fps, mean luma 36..147, std 31, new picture 3139x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 3140 vs 3140 +[PASS] video observation.images.wrist decodes, 640x480, not black: 48.86 MB, 3140 frames at 25 fps, mean luma 112..146, std 24, new picture 3139x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 3140 vs 3140 +parquet size 2.26 MB +[PASS] sim_info present: mobiletooltask/000/sim_info +dataset size 89.19 MB; whole cell dir 90.6 MB +RESULT: ALL PASS diff --git a/N026/sawyer_umi/dr_off/seed_1061/data/mobiletooltask/000/completed/0.json b/N026/sawyer_umi/dr_off/seed_1061/data/mobiletooltask/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..0d8a819369131bfecef4d0d180698b70179d0569 --- /dev/null +++ b/N026/sawyer_umi/dr_off/seed_1061/data/mobiletooltask/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "mobiletooltask/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N026/sawyer_umi/dr_off/seed_1061/data/mobiletooltask/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N026/sawyer_umi/dr_off/seed_1061/data/mobiletooltask/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..233676a6f468080502278697990d13d051e637e1 --- /dev/null +++ b/N026/sawyer_umi/dr_off/seed_1061/data/mobiletooltask/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:80792faefb0ae1ff9c024505e35f7828c2d2bd814514e637c487d062181d67c4 +size 2259168 diff --git a/N026/sawyer_umi/dr_off/seed_1061/data/mobiletooltask/000/lerobot_v21/meta/episodes.jsonl b/N026/sawyer_umi/dr_off/seed_1061/data/mobiletooltask/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..81ed5e10277f55a6c606895768bb8cd258a60e34 --- /dev/null +++ b/N026/sawyer_umi/dr_off/seed_1061/data/mobiletooltask/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the tool rack, pick up the hook, carry it to the channel, and use the hook to pull the ring out onto the marked square."], "length": 3140, "magicsim/control_steps": 6280, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray saddle front saddle base. There are a large gray table a, a large gray table b, a large gray saddle rear saddle base, a large gray saddle front saddle base, a small hook, a large white channel floor, a large gray rail l, a large gray rail r, a large gray end wall, a large green marker and a small ring. The gray table a is to the right of the gray saddle front saddle base. The gray saddle rear saddle base is to the left of the hook. The hook is on top of the gray saddle front saddle base. The white channel floor is to the right of the ring. The gray rail l is to the left of the white channel floor. The gray rail r is to the right of the white channel floor. The gray end wall is to the left of the ring. The green marker is to the right of the white channel floor. The ring is to the left of the white channel floor. The scene is viewed from front, at table height."} diff --git a/N026/sawyer_umi/dr_off/seed_1061/data/mobiletooltask/000/lerobot_v21/meta/episodes_stats.jsonl b/N026/sawyer_umi/dr_off/seed_1061/data/mobiletooltask/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..30eb718dac87c4817b1aac70e56a2ba25ca18bd8 --- /dev/null +++ b/N026/sawyer_umi/dr_off/seed_1061/data/mobiletooltask/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.05831817807095825, 0.001150145870188524, 0.005335238891721193, 0.9939988700281472, 0.7728249237415897, 0.8002606095781751, -0.2870588791313445, 0.3964445096007578, 0.1897440561919721, -0.22754713494754827, 0.6770700636942675], "std": [0.10455646970643759, 0.012285733317195423, 0.1460526968267051, 1.6221193863021621, 0.7573928383866863, 0.20965373694668316, 0.5201175629928032, 0.469170241843643, 0.2905437560891325, 0.3123936391375512, 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There are a large gray table a, a large gray table b, a large gray saddle rear saddle base, a large gray saddle front saddle base, a small hook, a large white channel floor, a large gray rail l, a large gray rail r, a large gray end wall, a large green marker and a small ring. The gray table a is to the right of the gray saddle front saddle base. The gray saddle rear saddle base is to the left of the hook. The hook is on top of the gray saddle front saddle base. The white channel floor is to the right of the ring. The gray rail l is to the left of the white channel floor. The gray rail r is to the right of the white channel floor. The gray end wall is to the left of the ring. The green marker is to the right of the white channel floor. The ring is to the left of the white channel floor. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [chan[e[m[ring]\n\n\n [saddle fron[hook]le base]\n\n\n\n\n[robot]" + }, + "task": { + "task_type": "MobileToolTask", + "instruction": "Go to the tool rack, pick up the hook, carry it to the channel, and use the hook to pull the ring out onto the marked square.", + "template_id": -1, + "slots": { + "obj": null, + "support": null + }, + "generic_instruction": "Mobiletooltask the object.", + "task_id": "N026", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": {} + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N026/sawyer_umi/dr_off/seed_1061/data/mobiletooltask/000/lerobot_v21/meta/info.json b/N026/sawyer_umi/dr_off/seed_1061/data/mobiletooltask/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..4ac87eb8aa80045a5de982fc42c2552fef8aabd8 --- /dev/null +++ b/N026/sawyer_umi/dr_off/seed_1061/data/mobiletooltask/000/lerobot_v21/meta/info.json @@ -0,0 +1,327 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 3140, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 11 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 15 + ], + "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", + "gripper_0", + "gripper_1" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 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" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 80 + ], + "names": [ + "fixture.0", + "fixture.1", + "fixture.2", + "object_pose.channel_floor.0", + "object_pose.channel_floor.1", + "object_pose.channel_floor.2", + "object_pose.channel_floor.3", + "object_pose.channel_floor.4", + "object_pose.channel_floor.5", + "object_pose.channel_floor.6", + "object_pose.end_wall.0", + "object_pose.end_wall.1", + "object_pose.end_wall.2", + "object_pose.end_wall.3", + "object_pose.end_wall.4", + "object_pose.end_wall.5", + "object_pose.end_wall.6", + "object_pose.hook.0", + "object_pose.hook.1", + "object_pose.hook.2", + "object_pose.hook.3", + "object_pose.hook.4", + "object_pose.hook.5", + "object_pose.hook.6", + "object_pose.marker.0", + "object_pose.marker.1", + "object_pose.marker.2", + "object_pose.marker.3", + "object_pose.marker.4", + "object_pose.marker.5", + "object_pose.marker.6", + "object_pose.rail_l.0", + "object_pose.rail_l.1", + "object_pose.rail_l.2", + "object_pose.rail_l.3", + "object_pose.rail_l.4", + "object_pose.rail_l.5", + "object_pose.rail_l.6", + "object_pose.rail_r.0", + "object_pose.rail_r.1", + "object_pose.rail_r.2", + "object_pose.rail_r.3", + "object_pose.rail_r.4", + "object_pose.rail_r.5", + "object_pose.rail_r.6", + "object_pose.ring.0", + "object_pose.ring.1", + "object_pose.ring.2", + "object_pose.ring.3", + "object_pose.ring.4", + "object_pose.ring.5", + "object_pose.ring.6", + "object_pose.saddle_front_saddle_base.0", + "object_pose.saddle_front_saddle_base.1", + "object_pose.saddle_front_saddle_base.2", + "object_pose.saddle_front_saddle_base.3", + "object_pose.saddle_front_saddle_base.4", + "object_pose.saddle_front_saddle_base.5", + "object_pose.saddle_front_saddle_base.6", + "object_pose.saddle_rear_saddle_base.0", + "object_pose.saddle_rear_saddle_base.1", + "object_pose.saddle_rear_saddle_base.2", + "object_pose.saddle_rear_saddle_base.3", + "object_pose.saddle_rear_saddle_base.4", + "object_pose.saddle_rear_saddle_base.5", + "object_pose.saddle_rear_saddle_base.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" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 16 + ], + "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 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"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/N026/sawyer_umi/dr_off/seed_1061/data/mobiletooltask/000/lerobot_v21/meta/magicsim_manifest.json b/N026/sawyer_umi/dr_off/seed_1061/data/mobiletooltask/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..3d481643b51768400e54cf77e5395078a441b8ee --- /dev/null +++ b/N026/sawyer_umi/dr_off/seed_1061/data/mobiletooltask/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,264 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 11:21:01" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": 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nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.21660000085830688, + 0.0, + -0.04500000178813934 + ], + "quat": [ + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + }, + "wrist": { + "intrinsics": { + "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": [ + 0.05979999899864197, + 0.0, + 0.029999999329447746 + ], + "quat": [ + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + } + }, + "lerobot": { + "codebase_version": "v2.1", + 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0.699 + ], + "right_gripper_r_finger": [ + 2.597, + 1.392, + 0.686 + ], + "_gripper_pos": [ + -0.0208, + -0.0044 + ] + }, + "tool": [ + 2.596, + 1.546, + 0.654 + ] + } + ], + "transport_state": { + "tool": "Hook", + "tool_lift_max_m": 0.223, + "tool_pose": [ + 2.596, + 1.524, + 0.654, + 0.7, + -0.102, + 0.103, + 0.699 + ] + }, + "manipulation_success": true, + "mobile_success": true, + "full_success": true, + "failure_reason": null, + "distance_to_first_interaction": 3.52, + "interstation_path_lengths": { + "S->first": 3.52, + "A->next": 3.884 + }, + "station_transition_order": [ + "A", + "B" + ], + "final_approach_pose": [ + 2.5722696781158447, + 0.718093991279602, + 1.5118609556504814 + ], + "regrasp_events": [], + "material_loss_during_transport": 0, + "violations": [], + "metrics": { + "ring_local": [ + 0.1, + 0.007, + 0.001 + ], + "ring_to_marker_m": 0.026, + "ring_travel_m": 0.31, + "leg_in_hole_frames": 1157, + "tcp_to_ring_m": 0.45, + "tool_lift_m": 0.041, + "tool_lift_max_m": 0.223 + }, + "episode_ticks": 6340, + "episode_time_s": 126.8, + "max_base_step_disp_m": 0.0073, + "command_shapes": { + "1x45x16": 764, + "1x16": 4271, + "1x51x16": 1190 + } + } + ], + "collect": { + "task": "N026", + "robot": "sawyer_umi", + "visual_dr": false, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N026", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "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 + } + } + }, + "dr_params": { + "seed": 1061, + "spawn_dxy": [ + 0.17606495961956214, + 0.14008181866923153 + ], + "spawn_dyaw_deg": 4.062348679318866, + "friction_scale": 1.0152966413150253, + "mass_scale": 1.114874610380184, + "ring_y": 0.001677306229922855 + }, + "steps": 6340, + "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" + ], + "elapsed_s": 1477.92 +} diff --git a/N026/sawyer_umi/dr_on/seed_2058/data/check.json b/N026/sawyer_umi/dr_on/seed_2058/data/check.json new file mode 100644 index 0000000000000000000000000000000000000000..359ed65a3db15b193381064724ca0e21dc902963 --- /dev/null +++ b/N026/sawyer_umi/dr_on/seed_2058/data/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the tool rack, pick up the hook, carry it to the channel, and use the hook to pull the ring out onto the marked square.'; expected 'Go to the tool rack, pick up the hook, carry it to the channel, and use the hook to pull the ring out onto the marked square.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "3162 rows vs ceil(6323/2) = 3162" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 61..6383, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "98.12 MB, 3162 frames at 25 fps, mean luma 55..116, std 41, new picture 3161x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "3162 vs 3162" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "92.99 MB, 3162 frames at 25 fps, mean luma 77..135, std 38, new picture 3161x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "3162 vs 3162" + }, + "sim_info present": { + "pass": true, + "detail": "mobiletooltask/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N026/sawyer_umi/dr_on/seed_2058/data/check.txt b/N026/sawyer_umi/dr_on/seed_2058/data/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..b56048f647847b14dc6982bb1722acc7397892a4 --- /dev/null +++ b/N026/sawyer_umi/dr_on/seed_2058/data/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n026_saw_on_2058/out/data task=N026 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n026_saw_on_2058/out/data/mobiletooltask/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 3162 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: 3162 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the tool rack, pick up the hook, carry it to the channel, and use the hook to pull the ring out onto the marked square.'; expected 'Go to the tool rack, pick up the hook, carry it to the channel, and use the hook to pull the ring out onto the marked square.' +rows 3162 at dataset fps 25 = 126.48 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3162 rows vs ceil(6323/2) = 3162 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6383, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 98.12 MB, 3162 frames at 25 fps, mean luma 55..116, std 41, new picture 3161x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 3162 vs 3162 +[PASS] video observation.images.wrist decodes, 640x480, not black: 92.99 MB, 3162 frames at 25 fps, mean luma 77..135, std 38, new picture 3161x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 3162 vs 3162 +parquet size 2.29 MB +[PASS] sim_info present: mobiletooltask/000/sim_info +dataset size 193.46 MB; whole cell dir 194.9 MB +RESULT: ALL PASS diff --git a/N026/sawyer_umi/dr_on/seed_2058/data/mobiletooltask/000/completed/0.json b/N026/sawyer_umi/dr_on/seed_2058/data/mobiletooltask/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..0d8a819369131bfecef4d0d180698b70179d0569 --- /dev/null +++ b/N026/sawyer_umi/dr_on/seed_2058/data/mobiletooltask/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "mobiletooltask/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N026/sawyer_umi/dr_on/seed_2058/data/mobiletooltask/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N026/sawyer_umi/dr_on/seed_2058/data/mobiletooltask/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..8f9e4de4d9deef55306e0cc2732be5e58112b3ba --- /dev/null +++ b/N026/sawyer_umi/dr_on/seed_2058/data/mobiletooltask/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e2f09bdc5d5326e32cb31fceba3a5ab04bd738525e22154dbca828c6aabe8200 +size 2291449 diff --git a/N026/sawyer_umi/dr_on/seed_2058/data/mobiletooltask/000/lerobot_v21/meta/episodes.jsonl b/N026/sawyer_umi/dr_on/seed_2058/data/mobiletooltask/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1a7e3ceac74f718c0efcb4aca473418d2e8de738 --- /dev/null +++ b/N026/sawyer_umi/dr_on/seed_2058/data/mobiletooltask/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the tool rack, pick up the hook, carry it to the channel, and use the hook to pull the ring out onto the marked square."], "length": 3162, "magicsim/control_steps": 6323, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray saddle front saddle base. There are a large gray table a, a large gray table b, a large gray saddle rear saddle base, a large gray saddle front saddle base, a small hook, a large white channel floor, a large gray rail l, a large gray rail r, a large gray end wall, a large green marker and a small ring. The gray table a is to the right of the gray saddle front saddle base. The gray saddle rear saddle base is to the left of the hook. The hook is on top of the gray saddle front saddle base. The white channel floor is behind the ring. The gray rail l is to the left of the white channel floor. The gray rail r is to the right of the white channel floor. The gray end wall is in front of the ring. The green marker is to the right of the white channel floor. The ring is in front of the white channel floor. The scene is viewed from front-right, at table height."} diff --git a/N026/sawyer_umi/dr_on/seed_2058/data/mobiletooltask/000/lerobot_v21/meta/episodes_stats.jsonl b/N026/sawyer_umi/dr_on/seed_2058/data/mobiletooltask/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2696bac7335ce0f19212006a9cff854c60a49107 --- /dev/null +++ b/N026/sawyer_umi/dr_on/seed_2058/data/mobiletooltask/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.05919188829368613, 0.0008062637142441191, 0.003171748554938285, 0.9787595567071385, 0.7922550199351908, 0.8270786566345244, -0.2977760022106727, 0.4082347111073119, 0.20078306490610634, -0.23965049042735434, 0.6761543327008223], "std": [0.10542456104522561, 0.01218241362663292, 0.14808314852151316, 1.647661648830633, 0.7809075579980234, 0.20433132865885137, 0.5120687937113506, 0.4592831482741957, 0.2827147667297491, 0.30634057201772513, 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3.7567099482139614, + -2.417887682456151, + -0.10500004809630428 + ], + "viewpoint": "front-right, at table height", + "extrinsics": { + "R": [ + [ + -8.039232568535226e-08, + -0.9999999999999964, + 2.5347603738179458e-08 + ], + [ + 0.8191520331270514, + -8.039232568535226e-08, + -0.5735764522919431 + ], + [ + 0.5735764522919431, + -2.5347603738179458e-08, + 0.819152033127055 + ] + ], + "t": [ + 1.855362002599171e-08, + -0.2032392724571752, + -0.08737481710326404 + ] + } + }, + { + "name": "wrist", + "intrinsics": { + "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": [ + 3.6851185389560666, + -2.278385314885348, + -0.030000046006716737 + ], + "viewpoint": "front-right, 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": [ + -3.65, + -2.2384671839544183, + 0.06 + ], + "ori": [ + 0.8532419800758362, + 0.0, + 0.0, + 0.5215152502059937 + ] + }, + "facing_yaw_deg": 62.86789347014338, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray saddle front saddle base. There are a large gray table a, a large gray table b, a large gray saddle rear saddle base, a large gray saddle front saddle base, a small hook, a large white channel floor, a large gray rail l, a large gray rail r, a large gray end wall, a large green marker and a small ring. The gray table a is to the right of the gray saddle front saddle base. The gray saddle rear saddle base is to the left of the hook. The hook is on top of the gray saddle front saddle base. The white channel floor is behind the ring. The gray rail l is to the left of the white channel floor. The gray rail r is to the right of the white channel floor. The gray end wall is in front of the ring. The green marker is to the right of the white channel floor. The ring is in front of the white channel floor. The scene is viewed from front-right, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [chan[e[m[ring]\n\n\n [saddle front[hook]e base]\n\n\n\n\n[robot]" + }, + "task": { + "task_type": "MobileToolTask", + "instruction": "Go to the tool rack, pick up the hook, carry it to the channel, and use the hook to pull the ring out onto the marked square.", + "template_id": -1, + "slots": { + "obj": null, + "support": null + }, + "generic_instruction": "Mobiletooltask the object.", + "task_id": "N026", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": {} + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N026/sawyer_umi/dr_on/seed_2058/data/mobiletooltask/000/lerobot_v21/meta/info.json b/N026/sawyer_umi/dr_on/seed_2058/data/mobiletooltask/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5b14a02754eb503559ba2cc1f029877ff02842ac --- /dev/null +++ b/N026/sawyer_umi/dr_on/seed_2058/data/mobiletooltask/000/lerobot_v21/meta/info.json @@ -0,0 +1,327 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 3162, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 11 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 15 + ], + "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", + "gripper_0", + "gripper_1" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 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" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 80 + ], + "names": [ + "fixture.0", + "fixture.1", + "fixture.2", + "object_pose.channel_floor.0", + "object_pose.channel_floor.1", + "object_pose.channel_floor.2", + "object_pose.channel_floor.3", + "object_pose.channel_floor.4", + "object_pose.channel_floor.5", + "object_pose.channel_floor.6", + "object_pose.end_wall.0", + "object_pose.end_wall.1", + "object_pose.end_wall.2", + "object_pose.end_wall.3", + "object_pose.end_wall.4", + "object_pose.end_wall.5", + "object_pose.end_wall.6", + "object_pose.hook.0", + "object_pose.hook.1", + "object_pose.hook.2", + "object_pose.hook.3", + "object_pose.hook.4", + "object_pose.hook.5", + "object_pose.hook.6", + "object_pose.marker.0", + "object_pose.marker.1", + "object_pose.marker.2", + "object_pose.marker.3", + "object_pose.marker.4", + "object_pose.marker.5", + "object_pose.marker.6", + "object_pose.rail_l.0", + "object_pose.rail_l.1", + "object_pose.rail_l.2", + "object_pose.rail_l.3", + "object_pose.rail_l.4", + "object_pose.rail_l.5", + "object_pose.rail_l.6", + "object_pose.rail_r.0", + "object_pose.rail_r.1", + "object_pose.rail_r.2", + "object_pose.rail_r.3", + "object_pose.rail_r.4", + "object_pose.rail_r.5", + "object_pose.rail_r.6", + "object_pose.ring.0", + "object_pose.ring.1", + "object_pose.ring.2", + "object_pose.ring.3", + "object_pose.ring.4", + "object_pose.ring.5", + "object_pose.ring.6", + "object_pose.saddle_front_saddle_base.0", + "object_pose.saddle_front_saddle_base.1", + "object_pose.saddle_front_saddle_base.2", + "object_pose.saddle_front_saddle_base.3", + "object_pose.saddle_front_saddle_base.4", + "object_pose.saddle_front_saddle_base.5", + "object_pose.saddle_front_saddle_base.6", + "object_pose.saddle_rear_saddle_base.0", + "object_pose.saddle_rear_saddle_base.1", + "object_pose.saddle_rear_saddle_base.2", + "object_pose.saddle_rear_saddle_base.3", + "object_pose.saddle_rear_saddle_base.4", + "object_pose.saddle_rear_saddle_base.5", + "object_pose.saddle_rear_saddle_base.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" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 16 + ], + "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 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"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/N026/sawyer_umi/dr_on/seed_2058/data/mobiletooltask/000/lerobot_v21/meta/magicsim_manifest.json b/N026/sawyer_umi/dr_on/seed_2058/data/mobiletooltask/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..2014c9e4f46b77fe80710a88fdd14703e3d22bf8 --- /dev/null +++ b/N026/sawyer_umi/dr_on/seed_2058/data/mobiletooltask/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,264 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 11:18:43" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": 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+ "S->first": 3.675, + "A->next": 3.887 + }, + "station_transition_order": [ + "A", + "B" + ], + "final_approach_pose": [ + 2.5716331005096436, + 0.7176495790481567, + 1.511703037936953 + ], + "regrasp_events": [], + "material_loss_during_transport": 0, + "violations": [], + "metrics": { + "ring_local": [ + 0.097, + 0.017, + 0.001 + ], + "ring_to_marker_m": 0.028, + "ring_travel_m": 0.313, + "leg_in_hole_frames": 1165, + "tcp_to_ring_m": 0.436, + "tool_lift_m": 0.079, + "tool_lift_max_m": 0.242 + }, + "episode_ticks": 6383, + "episode_time_s": 127.66, + "max_base_step_disp_m": 0.0069, + "command_shapes": { + "1x47x16": 786, + "1x16": 4288, + "1x51x16": 1194 + } + } + ], + "collect": { + "task": "N026", + "robot": "sawyer_umi", + "visual_dr": true, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N026", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "1" + }, + "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 + } + } + }, + "dr_params": { + "seed": 2058, + "spawn_dxy": [ + -0.3412385473629533, + 0.16153281604558156 + ], + "spawn_dyaw_deg": 17.867890362564367, + "friction_scale": 0.9104100264571219, + "mass_scale": 0.9601031792514899, + "ring_y": 0.011627519874538968 + }, + "steps": 6383, + "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" + ], + "elapsed_s": 1309.88 +} diff --git a/N028/sawyer_umi/dr_off/seed_1049/data/check.json b/N028/sawyer_umi/dr_off/seed_1049/data/check.json new file mode 100644 index 0000000000000000000000000000000000000000..3ec5afb29eb00ca34b957648f5fee4421823022a --- /dev/null +++ b/N028/sawyer_umi/dr_off/seed_1049/data/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the control panel and turn the big knob to the mark the person is pointing at.'; expected 'Go to the control panel and turn the big knob to the mark the person is pointing at.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1998 rows vs ceil(3995/2) = 1998" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 61..4055, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "24.98 MB, 1998 frames at 25 fps, mean luma 67..148, std 45, new picture 1997x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1998 vs 1998" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "27.59 MB, 1998 frames at 25 fps, mean luma 104..143, std 30, new picture 1997x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1998 vs 1998" + }, + "sim_info present": { + "pass": true, + "detail": "mobiletooltask/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N028/sawyer_umi/dr_off/seed_1049/data/check.txt b/N028/sawyer_umi/dr_off/seed_1049/data/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..7061beedbd6e302b0c27b2a3e48f007af1545e6a --- /dev/null +++ b/N028/sawyer_umi/dr_off/seed_1049/data/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n028_saw_off_1049/out/data task=N028 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n028_saw_off_1049/out/data/mobiletooltask/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1998 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: 1998 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 control panel and turn the big knob to the mark the person is pointing at.'; expected 'Go to the control panel and turn the big knob to the mark the person is pointing at.' +rows 1998 at dataset fps 25 = 79.92 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1998 rows vs ceil(3995/2) = 1998 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4055, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 24.98 MB, 1998 frames at 25 fps, mean luma 67..148, std 45, new picture 1997x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1998 vs 1998 +[PASS] video observation.images.wrist decodes, 640x480, not black: 27.59 MB, 1998 frames at 25 fps, mean luma 104..143, std 30, new picture 1997x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1998 vs 1998 +parquet size 1.78 MB +[PASS] sim_info present: mobiletooltask/000/sim_info +dataset size 54.57 MB; whole cell dir 55.7 MB +RESULT: ALL PASS diff --git a/N028/sawyer_umi/dr_off/seed_1049/data/mobiletooltask/000/completed/0.json b/N028/sawyer_umi/dr_off/seed_1049/data/mobiletooltask/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..0d8a819369131bfecef4d0d180698b70179d0569 --- /dev/null +++ b/N028/sawyer_umi/dr_off/seed_1049/data/mobiletooltask/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "mobiletooltask/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N028/sawyer_umi/dr_off/seed_1049/data/mobiletooltask/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N028/sawyer_umi/dr_off/seed_1049/data/mobiletooltask/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..c35b40c825803edc2a91642d4600e959f5b0e307 --- /dev/null +++ b/N028/sawyer_umi/dr_off/seed_1049/data/mobiletooltask/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a6efab765f4c670de9d9216dfbd487e155a5693b94f062252e80e80a8e18204 +size 1778015 diff --git a/N028/sawyer_umi/dr_off/seed_1049/data/mobiletooltask/000/lerobot_v21/meta/episodes.jsonl b/N028/sawyer_umi/dr_off/seed_1049/data/mobiletooltask/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2781b74a2b836e70eeb4b4a7ffdca264f526da47 --- /dev/null +++ b/N028/sawyer_umi/dr_off/seed_1049/data/mobiletooltask/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the control panel and turn the big knob to the mark the person is pointing at."], "length": 1998, "magicsim/control_steps": 3995, "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 and a medium dial console. The gray table a is to the right of the dial console. The dial console is on top of the gray table a. The dial console is to the left of the gray table a. The scene is viewed from front, at table height."} diff --git a/N028/sawyer_umi/dr_off/seed_1049/data/mobiletooltask/000/lerobot_v21/meta/episodes_stats.jsonl b/N028/sawyer_umi/dr_off/seed_1049/data/mobiletooltask/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a9cb618528a0b4ad51612385962706eed7dd93ca --- /dev/null +++ b/N028/sawyer_umi/dr_off/seed_1049/data/mobiletooltask/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.04886213251882726, -0.0007514095071841169, -0.01141058580408146, 0.3534107985230418, 0.1982695689803368, 0.8465070150516651, -0.32346366501755425, 0.39418913324077326, 0.05745682198850879, -0.15580211199540622, 0.5055055055055055], "std": [0.1080409869490688, 0.0033522821261716793, 0.06618168801156524, 0.8284961230947636, 0.39461185694617634, 0.25196593152726443, 0.6240432275951124, 0.48073472176596355, 0.11032810847467553, 0.28231620594121615, 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There are a large gray table a and a medium dial console. The gray table a is to the right of the dial console. The dial console is on top of the gray table a. The dial console is to the left of the gray table a. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [dial console]\n\n\n\n\n\n\n\n[robot]" + }, + "task": { + "task_type": "MobileToolTask", + "instruction": "Go to the control panel and turn the big knob to the mark the person is pointing at.", + "template_id": -1, + "slots": { + "obj": null, + "support": null + }, + "generic_instruction": "Mobiletooltask the object.", + "task_id": "N028", + "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/N028/sawyer_umi/dr_off/seed_1049/data/mobiletooltask/000/lerobot_v21/meta/info.json b/N028/sawyer_umi/dr_off/seed_1049/data/mobiletooltask/000/lerobot_v21/meta/info.json new file mode 100644 index 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a/N028/sawyer_umi/dr_off/seed_1049/data/mobiletooltask/000/lerobot_v21/meta/magicsim_manifest.json b/N028/sawyer_umi/dr_off/seed_1049/data/mobiletooltask/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..5e3d1679a461eb348c27a8ccaf47c9be7e1dcf5c --- /dev/null +++ b/N028/sawyer_umi/dr_off/seed_1049/data/mobiletooltask/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,264 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 11:18:59" + }, + "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, + 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/dev/null +++ b/N028/sawyer_umi/dr_on/seed_2049/data/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the control panel and turn the big knob to the mark the person is pointing at.'; expected 'Go to the control panel and turn the big knob to the mark the person is pointing at.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2005 rows vs ceil(4010/2) = 2005" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 61..4069, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "53.86 MB, 2005 frames at 25 fps, mean luma 66..126, std 46, new picture 2004x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2005 vs 2005" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "38.94 MB, 2005 frames at 25 fps, mean luma 99..131, std 38, new picture 2004x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2005 vs 2005" + }, + "sim_info present": { + "pass": true, + "detail": "mobiletooltask/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N028/sawyer_umi/dr_on/seed_2049/data/check.txt b/N028/sawyer_umi/dr_on/seed_2049/data/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..f56a2617b5766bc38a9b7c73e133f90ce1ea0c21 --- /dev/null +++ b/N028/sawyer_umi/dr_on/seed_2049/data/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n028_saw_on_2049/out/data task=N028 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n028_saw_on_2049/out/data/mobiletooltask/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2005 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: 2005 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 control panel and turn the big knob to the mark the person is pointing at.'; expected 'Go to the control panel and turn the big knob to the mark the person is pointing at.' +rows 2005 at dataset fps 25 = 80.20 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2005 rows vs ceil(4010/2) = 2005 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4069, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 53.86 MB, 2005 frames at 25 fps, mean luma 66..126, std 46, new picture 2004x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2005 vs 2005 +[PASS] video observation.images.wrist decodes, 640x480, not black: 38.94 MB, 2005 frames at 25 fps, mean luma 99..131, std 38, new picture 2004x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2005 vs 2005 +parquet size 1.75 MB +[PASS] sim_info present: mobiletooltask/000/sim_info +dataset size 94.78 MB; whole cell dir 95.9 MB +RESULT: ALL PASS diff --git a/N028/sawyer_umi/dr_on/seed_2049/data/mobiletooltask/000/completed/0.json b/N028/sawyer_umi/dr_on/seed_2049/data/mobiletooltask/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..0d8a819369131bfecef4d0d180698b70179d0569 --- /dev/null +++ b/N028/sawyer_umi/dr_on/seed_2049/data/mobiletooltask/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "mobiletooltask/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N028/sawyer_umi/dr_on/seed_2049/data/mobiletooltask/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N028/sawyer_umi/dr_on/seed_2049/data/mobiletooltask/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..a6e2872f15f28b2f855ea888ef40c9b59e9c1e1f --- /dev/null +++ b/N028/sawyer_umi/dr_on/seed_2049/data/mobiletooltask/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d8239391f1e1a4f0afd3c7da6936f3cb7bbe5548be92ecea37aed7dbd8e8ab6 +size 1751990 diff --git a/N028/sawyer_umi/dr_on/seed_2049/data/mobiletooltask/000/lerobot_v21/meta/episodes.jsonl b/N028/sawyer_umi/dr_on/seed_2049/data/mobiletooltask/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ad86f09f3ac5e056a95b202e903427548a5640c8 --- /dev/null +++ b/N028/sawyer_umi/dr_on/seed_2049/data/mobiletooltask/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the control panel and turn the big knob to the mark the person is pointing at."], "length": 2005, "magicsim/control_steps": 4010, "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 and a medium dial console. The gray table a is to the right of the dial console. The dial console is on top of the gray table a. The dial console is to the left of the gray table a. The scene is viewed from front, at table height."} diff --git a/N028/sawyer_umi/dr_on/seed_2049/data/mobiletooltask/000/lerobot_v21/meta/episodes_stats.jsonl b/N028/sawyer_umi/dr_on/seed_2049/data/mobiletooltask/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3c5000fcb78d119b05774d3520a44f4350bca549 --- /dev/null +++ b/N028/sawyer_umi/dr_on/seed_2049/data/mobiletooltask/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.049055574433947736, -0.0004414777431702079, -0.008762239018760557, 0.34360277202361245, 0.20691768392511733, 0.8440284201331864, 0.05980407112926022, 0.1861797821752151, 0.0527132446741996, -0.157526166657898, 0.5037406483790524], "std": [0.10821011539672701, 0.0018016842038237637, 0.05614401951395389, 0.8563685306864024, 0.35733147976699475, 0.25311379070287593, 0.8346053247537764, 0.38181589830186113, 0.10083549604572112, 0.285744810278439, 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"RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf", + "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot", + "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBaseShareBone", + "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase", + "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_PinkyToe1", + "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_RingToe1", + "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_MidToe1", + "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_IndexToe1", + "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_BigToe1", + "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_CalfTwist01", + "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_CalfTwist01/L_CalfTwist02", + "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_KneeShareBone", + "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_ThighTwist01", + "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_ThighTwist01/L_ThighTwist02", + "RL_BoneRoot/Hip/Pelvis/R_Thigh", + "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf", + 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} +} \ No newline at end of file diff --git a/N028/sawyer_umi/dr_on/seed_2049/data/mobiletooltask/000/visual_dr.json b/N028/sawyer_umi/dr_on/seed_2049/data/mobiletooltask/000/visual_dr.json new file mode 100644 index 0000000000000000000000000000000000000000..4e429c9995151b317eb2c47631c72af7ac9b7c32 --- /dev/null +++ b/N028/sawyer_umi/dr_on/seed_2049/data/mobiletooltask/000/visual_dr.json @@ -0,0 +1,697 @@ +{ + "version": 1, + "settings": { + "enabled": false, + "keep": [ + "dot_?", + "pointer", + "Person" + ], + "skip": [ + "*Robot_*", + "*/Camera*", + "*/camera*" + ], + "light_intensity": [ + 0.6, + 1.5 + ], + "light_color_temperature": [ + 3500.0, + 7500.0 + ], + "light_jitter_deg": 5.0, + "dome_swap_prob": 0.5, + "dome_tint_sat": [ + 0.0, + 0.15 + ], + "dome_yaw": true, + "hdr_dir": "$MAGICSIM_ASSETS/Background", + "tint_sat": [ + 0.0, + 0.3 + ], + "tint_val": [ + 0.7, + 1.0 + ], + "roughness_scale": [ + 0.8, + 1.25 + ], + "material_swap": true, + "material_swap_prob": 1.0, + 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"hold_frames": 0, + "released": false + }, + "end": {} + }, + { + "name": "stem_released", + "t": 79.62, + "tick": 3981, + "script": "turn_knob" + }, + { + "name": "step_start", + "t": 79.62, + "tick": 3981, + "script": "turn_knob", + "step": "retreat", + "idx": 14 + }, + { + "name": "step_progress", + "t": 80.62, + "tick": 4031, + "step": "retreat", + "ticks": 50, + "pos_err": 0.1302, + "rot_err": 0.002, + "delta": [ + -0.13, + -0.0, + 0.0 + ], + "tgt": [ + 0.573, + 0.292, + 0.701 + ], + "cur": [ + 0.703, + 0.292, + 0.701 + ], + "base": [ + -0.027, + 0.29, + -0.014 + ], + "bcmd": [ + 0.0, + 0.0, + 0.0 + ], + "joints": { + "right_j0": -0.368, + "right_j1": -1.496, + "right_j2": -0.053, + "right_j3": 2.389, + "right_j4": -0.535, + "right_j5": -0.968, + "right_j6": 3.47, + "right_gripper_l_finger_joint": 0.021, + "right_gripper_r_finger_joint": -0.021, + "_near_limit": { + "right_gripper_l_finger_joint": 0.0, + "right_gripper_r_finger_joint": 0.0 + } + }, + "links": { + "right_l4": [ + 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"knob_zone": 5, + "target_zone": 5, + "start_zone": 4, + "decoded_zone": 5, + "avatar_response_correct": true, + "hold_frames": 90, + "released": true + }, + "episode_ticks": 4070, + "episode_time_s": 81.4, + "max_base_step_disp_m": 0.006, + "command_shapes": { + "1x53x16": 824, + "1x16": 3066 + }, + "avatar_pointed_zone": 5, + "avatar_decoded_zone": 5, + "avatar_event_times": { + "cue_start": 0.06, + "cue_steady": 1.66, + "collision_on": 17.7 + }, + "cue_visibility": 1.0, + "min_robot_avatar_dist_m": 1.178, + "avatar_pointing": { + "direction": [ + 0.349, + -0.799, + -0.49 + ], + "err_deg": 0.0, + "tip": [ + 0.732, + 0.797, + 1.097 + ] + } + } + ], + "collect": { + "task": "N028", + "robot": "sawyer_umi", + "visual_dr": true, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N028", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "1" + }, + "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 + } + } + }, + "dr_params": { + "seed": 2049, + "spawn_dxy": [ + -0.3460268850485386, + 0.18163721979261915 + ], + "spawn_dyaw_deg": -5.084503904268821, + "friction_scale": 0.9334654850500231, + "mass_scale": 1.1367229344479908, + "start_zone": 4, + "avatar_shift": [ + -0.05089640281894889, + 0.0781862696079293 + ] + }, + "steps": 4070, + "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" + ], + "elapsed_s": 1281.83 +} diff --git a/N032/go2_arm/dr_off/seed_1053/check.json b/N032/go2_arm/dr_off/seed_1053/check.json new file mode 100644 index 0000000000000000000000000000000000000000..73854419fed729469fe8d223d8f0f452bb26c4aa --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1053/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": "1769 rows vs ceil(3537/2) = 1769" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..3637, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "15.27 MB, 1769 frames at 25 fps, mean luma 102..142, std 29, new picture 1768x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1769 vs 1769" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "32.00 MB, 1769 frames at 25 fps, mean luma 101..175, std 30, new picture 1768x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1769 vs 1769" + }, + "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_1053/check.txt b/N032/go2_arm/dr_off/seed_1053/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..20bdc003b1e0700cd5ca2e26bb7c157c2a90cc4d --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1053/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_go2_off_1053/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_go2_off_1053/out/rec/stationpuzzle/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1769 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: 1769 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 1769 at dataset fps 25 = 70.76 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1769 rows vs ceil(3537/2) = 1769 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..3637, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 15.27 MB, 1769 frames at 25 fps, mean luma 102..142, std 29, new picture 1768x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1769 vs 1769 +[PASS] video observation.images.wrist decodes, 640x480, not black: 32.00 MB, 1769 frames at 25 fps, mean luma 101..175, std 30, new picture 1768x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1769 vs 1769 +parquet size 6.47 MB +[PASS] sim_info present: rec/stationpuzzle/000/sim_info +dataset size 54.04 MB; whole cell dir 56.1 MB +RESULT: ALL PASS diff --git a/N032/go2_arm/dr_off/seed_1053/rec/stationpuzzle/000/completed/0.json b/N032/go2_arm/dr_off/seed_1053/rec/stationpuzzle/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..8ccdef7d6fe05159c409af74707fd6bc60bede10 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1053/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_1053/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/go2_arm/dr_off/seed_1053/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..01cd20246724ffaab28e23df4e702dcdf258ecbc --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1053/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9567f218f166a2e8cd9a2beb65f22f7da0ff8dba41288da1b9adceb0dcdc4e32 +size 6472447 diff --git a/N032/go2_arm/dr_off/seed_1053/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl b/N032/go2_arm/dr_off/seed_1053/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4ac40b1c84d7d31f82274f3c2239111d25623116 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1053/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": 1769, "magicsim/control_steps": 3537, "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 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/go2_arm/dr_off/seed_1053/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/go2_arm/dr_off/seed_1053/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6e5910cd09a66729bf5b2412615b2aea1cc835f6 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1053/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.18209070801406407, -0.003420841285759881, 0.018883878216826567, 0.33755228351306754, 0.43831732591172945, 0.36628252200028394, 0.6338503410615377, 0.059045782990315626, -0.6089164685097841, 0.4446836099336045, 0.13172362491998077, 0.44036178631995476], "std": [0.15222935903814425, 0.020984335035886516, 0.3207120362919534, 0.025960693226147667, 1.4465679768316961, 1.5372004547413094, 0.0512042745575389, 0.11196028291468006, 0.24700442118621416, 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"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 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 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]B][tile]\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": 1.5114913706963593, + "support": null + }, + "generic_instruction": "Stationpuzzle the 1.5114913706963593.", + "task_id": "N032", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_1372": { + "frame_idx": 1372, + "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_1378": { + "frame_idx": 1378, + "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_1625": { + "frame_idx": 1625, + "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_1639": { + "frame_idx": 1639, + "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_1640": { + "frame_idx": 1640, + "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_1693": { + "frame_idx": 1693, + "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_1728": { + "frame_idx": 1728, + "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_1751": { + "frame_idx": 1751, + "caption": "Grasping the small tile, moving the arm in to make contact; the right gripper is below the tile.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1755": { + "frame_idx": 1755, + "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_1815": { + "frame_idx": 1815, + "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_1816": { + "frame_idx": 1816, + "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_1878": { + "frame_idx": 1878, + "caption": "Done — the small tile is grasped; the right gripper is 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complete", + "check": { + "tile": { + "held": false, + "dist_wrist": 0.365, + "err_across": -0.0, + "err_along": 0.0002, + "yaw_err_deg": 0.0, + "tilt_deg": 0.0, + "z_err": 0.0, + "overlap": false, + "at_rest": true, + "in_notch": true + }, + "released": true, + "intruders": [], + "manipulation_success": true + }, + "route": [ + "A", + "B", + "A" + ], + "total_path_m": 12.79, + "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": 1173.6, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 32.5 + } +} diff --git a/N032/go2_arm/dr_off/seed_1054/check.json b/N032/go2_arm/dr_off/seed_1054/check.json new file mode 100644 index 0000000000000000000000000000000000000000..b44f2b080c856fb0602a54086402fd6bae63c472 --- /dev/null +++ b/N032/go2_arm/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 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": "1763 rows vs ceil(3526/2) = 1763" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..3625, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "15.37 MB, 1763 frames at 25 fps, mean luma 100..142, std 28, new picture 1762x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1763 vs 1763" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "31.88 MB, 1763 frames at 25 fps, mean luma 101..175, std 29, new picture 1762x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1763 vs 1763" + }, + "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_1054/check.txt b/N032/go2_arm/dr_off/seed_1054/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..1207f95ff742abfac1bc1c18574b7a3beb618405 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1054/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_go2_off_1054/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_go2_off_1054/out/rec/stationpuzzle/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1763 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: 1763 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 1763 at dataset fps 25 = 70.52 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1763 rows vs ceil(3526/2) = 1763 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..3625, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 15.37 MB, 1763 frames at 25 fps, mean luma 100..142, std 28, new picture 1762x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1763 vs 1763 +[PASS] video observation.images.wrist decodes, 640x480, not black: 31.88 MB, 1763 frames at 25 fps, mean luma 101..175, std 29, new picture 1762x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1763 vs 1763 +parquet size 6.89 MB +[PASS] sim_info present: rec/stationpuzzle/000/sim_info +dataset size 54.43 MB; whole cell dir 56.4 MB +RESULT: ALL PASS diff --git a/N032/go2_arm/dr_off/seed_1054/rec/stationpuzzle/000/completed/0.json b/N032/go2_arm/dr_off/seed_1054/rec/stationpuzzle/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..8ccdef7d6fe05159c409af74707fd6bc60bede10 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1054/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_1054/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/go2_arm/dr_off/seed_1054/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..896f0e0b1ba707f23b2c7ea568981f95f4965c06 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1054/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86618f9c4f5be1696308370073277904b1038979c88a0cea2172d1233e1ab7d9 +size 6892585 diff --git a/N032/go2_arm/dr_off/seed_1054/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl b/N032/go2_arm/dr_off/seed_1054/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9ec0e9ed85e6bdc26e1aed7ef43f732e0a4a7402 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1054/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": 1763, "magicsim/control_steps": 3526, "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 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 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_off/seed_1054/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/go2_arm/dr_off/seed_1054/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..803ad86a607a65236c3a2dc532ea332818b70d29 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1054/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.17385064813789664, -0.0036053298911797142, 0.018628956410364036, 0.3378048722911679, 0.47663491930531565, 0.5048911153036156, 0.6349613846734513, 0.06458683695667383, -0.604392066724721, 0.46852068272664915, 0.12991375653300344, 0.42824730572887126], "std": [0.15353915190236336, 0.020995250125302036, 0.3263536323934533, 0.026168010986131522, 1.4186166461576115, 1.457762574340534, 0.05142073688953721, 0.1095097943546786, 0.24430486958477113, 0.5619526362974923, 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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 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 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 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] B][tile]\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": 1.533468923472002, + "support": null + }, + "generic_instruction": "Stationpuzzle the 1.533468923472002.", + "task_id": "N032", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_1345": { + "frame_idx": 1345, + "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", + 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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_1677": { + "frame_idx": 1677, + "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_1730": { + "frame_idx": 1730, + "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": 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"skill": "Grasp", + "phase": "close_gripper", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1852": { + "frame_idx": 1852, + "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_1853": { + "frame_idx": 1853, + "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_1915": { + "frame_idx": 1915, + "caption": "Done — the small tile is grasped; the right gripper is 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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": 979.1, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 37.9 + } +} diff --git a/N032/go2_arm/dr_on/seed_2054/check.json b/N032/go2_arm/dr_on/seed_2054/check.json new file mode 100644 index 0000000000000000000000000000000000000000..c4e799d1b826a8f67c77509240aeb539305fbb88 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2054/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": "1754 rows vs ceil(3508/2) = 1754" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..3607, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "47.47 MB, 1754 frames at 25 fps, mean luma 56..134, std 47, new picture 1753x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1754 vs 1754" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "68.23 MB, 1754 frames at 25 fps, mean luma 51..166, std 37, new picture 1753x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1754 vs 1754" + }, + "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_2054/check.txt b/N032/go2_arm/dr_on/seed_2054/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..94cc9a380ee1837c984d09536254d900d235b45e --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2054/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_go2_on_2054/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_go2_on_2054/out/rec/stationpuzzle/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1754 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: 1754 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 1754 at dataset fps 25 = 70.16 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1754 rows vs ceil(3508/2) = 1754 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..3607, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 47.47 MB, 1754 frames at 25 fps, mean luma 56..134, std 47, new picture 1753x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1754 vs 1754 +[PASS] video observation.images.wrist decodes, 640x480, not black: 68.23 MB, 1754 frames at 25 fps, mean luma 51..166, std 37, new picture 1753x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1754 vs 1754 +parquet size 6.50 MB +[PASS] sim_info present: rec/stationpuzzle/000/sim_info +dataset size 122.48 MB; whole cell dir 124.4 MB +RESULT: ALL PASS diff --git a/N032/go2_arm/dr_on/seed_2054/rec/stationpuzzle/000/completed/0.json b/N032/go2_arm/dr_on/seed_2054/rec/stationpuzzle/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..8ccdef7d6fe05159c409af74707fd6bc60bede10 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2054/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_2054/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/go2_arm/dr_on/seed_2054/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..3db18954dffd13f5cd29a999c24291c42b777319 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2054/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:fda8bfcc6573e85de8e70b1d5af97bbccd150216efdbceff0df3a74b998f9cb8 +size 6504778 diff --git a/N032/go2_arm/dr_on/seed_2054/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl b/N032/go2_arm/dr_on/seed_2054/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b335ec7899cbef269aa29e61492f200e1b413ba7 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2054/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": 1754, "magicsim/control_steps": 3508, "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 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 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_2054/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/go2_arm/dr_on/seed_2054/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c02726add227742f05ab794ee0745cf2c1fa3f05 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2054/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.16735218868547352, -0.0011926400183170116, 0.021445642707565694, 0.33740022224602434, 0.39944333929734194, 0.48620520856660476, 0.6331912134874914, 0.05926576899438927, -0.6216627118372047, 0.43999985668345215, 0.13379914753092292, 0.4486887115165336], "std": [0.15169988445301077, 0.019422495236484788, 0.3253298930526252, 0.026423817736061315, 1.2708600958492642, 1.441551441817945, 0.051406694399764225, 0.11299213598862479, 0.22568747706011927, 0.5731693028108462, 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"object": "board_4_1" + }, + { + "subject": "board_1_1", + "relation": "in_front_of", + "object": "board_4_1" + }, + { + "subject": "board_2_1", + "relation": "behind", + "object": "board_4_1" + }, + { + "subject": "board_3_1", + "relation": "in_front_of", + "object": "board_0_1" + }, + { + "subject": "board_4_1", + "relation": "behind", + "object": "board_1_1" + }, + { + "subject": "tile_1", + "relation": "on_top_of", + "object": "table_B_1" + }, + { + "subject": "tile_1", + "relation": "right_of", + "object": "table_B_1" + }, + { + "subject": "cand_O_1", + "relation": "on_top_of", + "object": "table_B_1" + }, + { + "subject": "cand_O_1", + "relation": "behind", + "object": "table_B_1" + } + ], + "cameras": [ + { + "name": "head", + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 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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 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]]\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": 1.4901675768746765, + "support": null + }, + "generic_instruction": "Stationpuzzle the 1.4901675768746765.", + "task_id": "N032", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_1267": { + "frame_idx": 1267, + "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_1292": { + "frame_idx": 1292, + "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_1579": { + "frame_idx": 1579, + "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_1593": { + "frame_idx": 1593, + "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_1595": { + "frame_idx": 1595, + "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_1630": { + "frame_idx": 1630, + "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_1648": { + "frame_idx": 1648, + "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_1710": { + "frame_idx": 1710, + "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_1770": { + "frame_idx": 1770, + "caption": "Lifting the tile away with the gripper; the right gripper is below and to the left of the tile.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "ParallelGripper", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1771": { + "frame_idx": 1771, + "caption": "Lifting the tile away with the arm; the right gripper is below and to the left of the tile.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1833": { + "frame_idx": 1833, + "caption": "Done — the small tile is grasped; the right gripper is below and to the left of the tile.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + } + } + }, + "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/go2_arm/dr_on/seed_2054/rec/stationpuzzle/000/lerobot_v21/meta/info.json b/N032/go2_arm/dr_on/seed_2054/rec/stationpuzzle/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..cdf6b697537952bfe578af37c0ea6c6b628ff0ed --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2054/rec/stationpuzzle/000/lerobot_v21/meta/info.json @@ -0,0 +1,350 @@ +{ + "codebase_version": "v2.1", + "robot_type": "Go2PlusCfg", + "total_episodes": 1, + "total_frames": 1754, + "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": { + 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+ "/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": 1160.6, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 29.1 + } +} diff --git a/N032/sawyer_umi/dr_off/seed_1054/check.json b/N032/sawyer_umi/dr_off/seed_1054/check.json new file mode 100644 index 0000000000000000000000000000000000000000..fc60301e18d7d9faabcccfa94ebe8ede550c0533 --- /dev/null +++ b/N032/sawyer_umi/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', '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": "2697 rows vs ceil(5393/2) = 2697" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5493, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "31.54 MB, 2697 frames at 25 fps, mean luma 97..149, std 27, new picture 2696x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2697 vs 2697" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "49.69 MB, 2697 frames at 25 fps, mean luma 108..178, std 26, new picture 2696x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2697 vs 2697" + }, + "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_1054/check.txt b/N032/sawyer_umi/dr_off/seed_1054/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..e4ecff04c2dac71c739abfe135c3b34a86996f46 --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1054/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_saw_off_1054/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_saw_off_1054/out/rec/stationpuzzlexr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2697 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: 2697 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 2697 at dataset fps 25 = 107.88 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2697 rows vs ceil(5393/2) = 2697 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5493, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 31.54 MB, 2697 frames at 25 fps, mean luma 97..149, std 27, new picture 2696x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2697 vs 2697 +[PASS] video observation.images.wrist decodes, 640x480, not black: 49.69 MB, 2697 frames at 25 fps, mean luma 108..178, std 26, new picture 2696x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2697 vs 2697 +parquet size 3.60 MB +[PASS] sim_info present: rec/stationpuzzlexr/000/sim_info +dataset size 85.03 MB; whole cell dir 86.7 MB +RESULT: ALL PASS diff --git a/N032/sawyer_umi/dr_off/seed_1054/rec/stationpuzzlexr/000/completed/0.json b/N032/sawyer_umi/dr_off/seed_1054/rec/stationpuzzlexr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..0ea26fd1750065ae505310bf089fab096819eb7a --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1054/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_1054/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/sawyer_umi/dr_off/seed_1054/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..9c3637eb6a615e07c0e84f266da9e9d10582e63a --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1054/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:cd0449ac241c9b1fe509ad46f3b15b0bfad818722513016061c78473a89a9406 +size 3596799 diff --git a/N032/sawyer_umi/dr_off/seed_1054/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes.jsonl b/N032/sawyer_umi/dr_off/seed_1054/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..efd639f0edd5744249527ead9cead376365548a4 --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1054/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": 2697, "magicsim/control_steps": 5393, "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 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 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_1054/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/sawyer_umi/dr_off/seed_1054/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..27e9a9a55b5df364c25dcebf4bd9ac6293c4b1bf --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1054/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.10656715395439431, -0.0005895761033319128, 0.009024656739841814, 0.5882949601688958, 0.7376262120430144, 1.0402497977383012, 0.22448267173581446, 0.03788988736734999, 0.2794529747226181, 0.18917036889744926, 0.3804226918798665], "std": [0.13431594563171248, 0.014783781220137897, 0.23220723897420972, 1.424125221644274, 1.5488976769317313, 0.29062318418678407, 0.4998034763641459, 0.28824347570564757, 0.39698522849310236, 0.5863507613057641, 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355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 4.261290918397342, + -0.8974731030350936, + -0.09499995623247784 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + -8.039232568535226e-08, + -0.9999999999999964, + 2.5347603738179458e-08 + ], + [ + 0.8191520331270514, + -8.039232568535226e-08, + -0.5735764522919431 + ], + [ + 0.5735764522919431, + -2.5347603738179458e-08, + 0.819152033127055 + ] + ], + "t": [ + 1.855362002599171e-08, + -0.2032392724571752, + -0.08737481710326404 + ] + } + }, + { + "name": "wrist", + "intrinsics": { + "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": [ + 4.142724440581158, + -0.7948659331287188, + -0.019999957746495274 + ], + "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 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 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]B][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": 1.533468923472002, + "support": null + }, + "generic_instruction": "Stationpuzzlexr the 1.533468923472002.", + "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_1054/rec/stationpuzzlexr/000/lerobot_v21/meta/info.json b/N032/sawyer_umi/dr_off/seed_1054/rec/stationpuzzlexr/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..3f3146faaa401a76d0d851fbd4d5097465d3f267 --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1054/rec/stationpuzzlexr/000/lerobot_v21/meta/info.json @@ -0,0 +1,331 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 2697, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 11 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 15 + ], + "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", + "gripper_0", + "gripper_1" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 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" + ] + }, + "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", + "object_pose.board_3.5", + "object_pose.board_3.6", + "object_pose.board_4.0", + "object_pose.board_4.1", + "object_pose.board_4.2", + "object_pose.board_4.3", + "object_pose.board_4.4", + "object_pose.board_4.5", + "object_pose.board_4.6", + "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": [ + 816 + ], + "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_1054/rec/stationpuzzlexr/000/lerobot_v21/meta/magicsim_manifest.json b/N032/sawyer_umi/dr_off/seed_1054/rec/stationpuzzlexr/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..6dc2230782361e0624bd133041720007d82758c0 --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1054/rec/stationpuzzlexr/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,264 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 11:26:20" + }, + "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": 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\u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.21660000085830688, + 0.0, + -0.04500000178813934 + ], + "quat": [ + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + }, + "wrist": { + "intrinsics": { + "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": [ + 0.05979999899864197, + 0.0, + 0.029999999329447746 + ], + "quat": [ + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + } + }, + "lerobot": { + "codebase_version": "v2.1", + "video_keys": [ + 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0000000000000000000000000000000000000000..575b5fd019910e053a06b270ef385183c3ddbf53 --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1054/rec/stationpuzzlexr/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3dd38c1188b6a2a3343bbd6b0e3087e0d60c59496b5732b69bc052798def36cc +size 738632 diff --git a/N032/sawyer_umi/dr_off/seed_1054/rec/stationpuzzlexr/000/sim_info/magicsim_manifest.json b/N032/sawyer_umi/dr_off/seed_1054/rec/stationpuzzlexr/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..5ae3a14d9c27be3e30bc876d163cf1f698efd1b9 --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1054/rec/stationpuzzlexr/000/sim_info/magicsim_manifest.json @@ -0,0 +1,233 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 11:26:54" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + 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"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", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (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 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{ + "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/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": 1318.8, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 41.3 + } +} diff --git a/N032/sawyer_umi/dr_on/seed_2055/check.json b/N032/sawyer_umi/dr_on/seed_2055/check.json new file mode 100644 index 0000000000000000000000000000000000000000..a0cba3a0dc0c3ccc369d53e52e13d017055c3773 --- /dev/null +++ b/N032/sawyer_umi/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', '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": "2671 rows vs ceil(5341/2) = 2671" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5441, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "59.18 MB, 2671 frames at 25 fps, mean luma 87..145, std 34, new picture 2670x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2671 vs 2671" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "61.70 MB, 2671 frames at 25 fps, mean luma 97..150, std 31, new picture 2670x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2671 vs 2671" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationpuzzlexr/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N032/sawyer_umi/dr_on/seed_2055/check.txt b/N032/sawyer_umi/dr_on/seed_2055/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..bf48fb6c804ebcf7fda64718c73ad8fc4ce64258 --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2055/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_saw_on_2055/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_saw_on_2055/out/rec/stationpuzzlexr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2671 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: 2671 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 2671 at dataset fps 25 = 106.84 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2671 rows vs ceil(5341/2) = 2671 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5441, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 59.18 MB, 2671 frames at 25 fps, mean luma 87..145, std 34, new picture 2670x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2671 vs 2671 +[PASS] video observation.images.wrist decodes, 640x480, not black: 61.70 MB, 2671 frames at 25 fps, mean luma 97..150, std 31, new picture 2670x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2671 vs 2671 +parquet size 3.51 MB +[PASS] sim_info present: rec/stationpuzzlexr/000/sim_info +dataset size 124.59 MB; whole cell dir 126.3 MB +RESULT: ALL PASS diff --git a/N032/sawyer_umi/dr_on/seed_2055/rec/stationpuzzlexr/000/completed/0.json b/N032/sawyer_umi/dr_on/seed_2055/rec/stationpuzzlexr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..0ea26fd1750065ae505310bf089fab096819eb7a --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2055/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_on/seed_2055/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/sawyer_umi/dr_on/seed_2055/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..eff4bfc9f62b7021450e38784d708a7a2f5ffef2 --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2055/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:c0db57ec65f04d0a4885e5deabc0604e5e12f01e1e7af89e573bafc3c9238576 +size 3510561 diff --git a/N032/sawyer_umi/dr_on/seed_2055/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes.jsonl b/N032/sawyer_umi/dr_on/seed_2055/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..691a188959bc891f7e006eff6b40fadae690a76f --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2055/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": 2671, "magicsim/control_steps": 5341, "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 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 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 to the left of the gray table B. The scene is viewed from front-right, at table height."} diff --git a/N032/sawyer_umi/dr_on/seed_2055/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/sawyer_umi/dr_on/seed_2055/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8a14f8bb036d03e921b7c618e5812d18f7c2243c --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2055/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.10490848682193174, -0.0014599124377628963, 0.006778086877752441, 0.6538167421858394, 0.8288697325922646, 1.0403259467739419, 0.22158518984763195, 0.015758970167247227, 0.28680845478724637, 0.2115886337324302, 0.3785099213777611], "std": [0.13370955289078143, 0.011822270953018478, 0.23455024971283167, 1.323732696880805, 1.5176436895188137, 0.29130551176088615, 0.5092798930368984, 0.28219815081993804, 0.39879667767640287, 0.5705979703940975, 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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 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 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 to the left of the gray table B. The scene is viewed from front-right, 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": "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": 1.5106780419041388, + "support": null + }, + "generic_instruction": "Stationpuzzlexr the 1.5106780419041388.", + "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_on/seed_2055/rec/stationpuzzlexr/000/lerobot_v21/meta/info.json b/N032/sawyer_umi/dr_on/seed_2055/rec/stationpuzzlexr/000/lerobot_v21/meta/info.json new file 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"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", + 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"save_errors": {}, + "drain_s": 61.0 + } +} diff --git a/N032/stretch3/dr_off/seed_1092/check.json b/N032/stretch3/dr_off/seed_1092/check.json new file mode 100644 index 0000000000000000000000000000000000000000..2a0e9a5d6f7d088c43d679e7e72598721ebb4895 --- /dev/null +++ b/N032/stretch3/dr_off/seed_1092/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": "2577 rows vs ceil(5154/2) = 2577" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5253, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "26.40 MB, 2577 frames at 25 fps, mean luma 115..156, std 13, new picture 2576x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2577 vs 2577" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "57.90 MB, 2577 frames at 25 fps, mean luma 115..170, std 29, new picture 2576x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2577 vs 2577" + }, + "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_1092/check.txt b/N032/stretch3/dr_off/seed_1092/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..42b860fd3e6e0444f6e5cbb00366626519248572 --- /dev/null +++ b/N032/stretch3/dr_off/seed_1092/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_str_off_1092/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_str_off_1092/out/rec/stationpuzzlestretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2577 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: 2577 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 2577 at dataset fps 25 = 103.08 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2577 rows vs ceil(5154/2) = 2577 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5253, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 26.40 MB, 2577 frames at 25 fps, mean luma 115..156, std 13, new picture 2576x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2577 vs 2577 +[PASS] video observation.images.wrist decodes, 640x480, not black: 57.90 MB, 2577 frames at 25 fps, mean luma 115..170, std 29, new picture 2576x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2577 vs 2577 +parquet size 4.02 MB +[PASS] sim_info present: rec/stationpuzzlestretch/000/sim_info +dataset size 88.51 MB; whole cell dir 90.3 MB +RESULT: ALL PASS diff --git a/N032/stretch3/dr_off/seed_1092/rec/stationpuzzlestretch/000/completed/0.json b/N032/stretch3/dr_off/seed_1092/rec/stationpuzzlestretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..2b614a937da99960d58d2a321fefcbc4aa6cfa5e --- /dev/null +++ b/N032/stretch3/dr_off/seed_1092/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_1092/rec/stationpuzzlestretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/stretch3/dr_off/seed_1092/rec/stationpuzzlestretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..47911a1499153ae9d749563e0a973a219e44f68a --- /dev/null +++ b/N032/stretch3/dr_off/seed_1092/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:eb8cfd5315b814929cc95f5ec0d12957e19de160a22062b86639c00e89bf26ed +size 4021433 diff --git a/N032/stretch3/dr_off/seed_1092/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes.jsonl b/N032/stretch3/dr_off/seed_1092/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..270069b9d03634390093a5118c6c7a6f5205a031 --- /dev/null +++ b/N032/stretch3/dr_off/seed_1092/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": 2577, "magicsim/control_steps": 5154, "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 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 right 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 to the left of the gray table B. The scene is viewed from front-right, slightly above table height."} diff --git a/N032/stretch3/dr_off/seed_1092/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/stretch3/dr_off/seed_1092/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dc34736ef423c508d3e48d9e00745b53f4eb3246 --- /dev/null +++ b/N032/stretch3/dr_off/seed_1092/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.03688302417717611, 0.0, 0.021057110599635713, 0.33174782044908013, 0.34221618804396886, 0.7051670683022382, -0.2904487422034523, 0.018315933295602813, -0.028760240679518465, -0.028455967915511474, 0.41715172681412493], "std": [0.1748864438368975, 0.0, 0.23707915503141955, 1.1044267990955354, 1.3987049183437674, 0.1543081428823244, 0.5391532339276471, 0.3294960715223905, 0.3808750445463052, 0.6077395708877494, 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}, + { + "subject": "tile_1", + "relation": "on_top_of", + "object": "table_B_1" + }, + { + "subject": "tile_1", + "relation": "right_of", + "object": "table_B_1" + }, + { + "subject": "cand_O_1", + "relation": "on_top_of", + "object": "table_B_1" + }, + { + "subject": "cand_O_1", + "relation": "left_of", + "object": "table_B_1" + } + ], + "cameras": [ + { + "name": "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_robot": [ + 3.6293639894609124, + -1.996903030850665, + 1.2357227003696236 + ], + "viewpoint": "front-right, slightly above table height", + "extrinsics": { + "R": [ + [ + -5.56468016110756e-08, + -0.9999999999938459, + -3.5078881838734866e-06 + ], + [ + 0.5646357088821415, + -2.9266214562895243e-06, + 0.825340242716055 + ], + [ + -0.825340242721242, + -1.9347513867118415e-06, + 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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 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 right 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 to the left of the gray table B. The scene is viewed from front-right, 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": 3.210586039238292, + "support": null + }, + "generic_instruction": "Stationpuzzlestretch the 3.210586039238292.", + "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_1092/rec/stationpuzzlestretch/000/lerobot_v21/meta/info.json b/N032/stretch3/dr_off/seed_1092/rec/stationpuzzlestretch/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..a34eebbdc34d5c704c863acde61805cc9f84b256 --- /dev/null +++ b/N032/stretch3/dr_off/seed_1092/rec/stationpuzzlestretch/000/lerobot_v21/meta/info.json @@ -0,0 +1,333 @@ +{ + "codebase_version": "v2.1", + "robot_type": "HelloRobotCfg", + "total_episodes": 1, + "total_frames": 2577, + "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", + 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"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", + "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": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "observation.images.head": { + "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 + } + }, + "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/N032/stretch3/dr_off/seed_1092/rec/stationpuzzlestretch/000/lerobot_v21/meta/magicsim_manifest.json b/N032/stretch3/dr_off/seed_1092/rec/stationpuzzlestretch/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..b6b74ea8284eacd6e3e8c7ffca363d957d01a66e --- /dev/null +++ b/N032/stretch3/dr_off/seed_1092/rec/stationpuzzlestretch/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 11:23:09" + }, + "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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"horizontal_aperture": 2.1600000858306885, + "vertical_aperture": 1.62 + }, + "wrist": { + "link": "Robot_0/link_gripper_s3_body", + "pos": [ + 0.009, + 0.062939, + 0.056398 + ], + "ori": [ + -170.0021, + 0.0, + -179.9998 + ], + "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": 1338.8, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 39.9 + } +} diff --git a/N032/stretch3/dr_off/seed_1093/check.json b/N032/stretch3/dr_off/seed_1093/check.json new file mode 100644 index 0000000000000000000000000000000000000000..fc168afe1b3b13930f5e9926447c5219802b65fe --- /dev/null +++ b/N032/stretch3/dr_off/seed_1093/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": "2615 rows vs ceil(5229/2) = 2615" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5329, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "26.27 MB, 2615 frames at 25 fps, mean luma 116..156, std 12, new picture 2614x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2615 vs 2615" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "56.88 MB, 2615 frames at 25 fps, mean luma 110..171, std 29, new picture 2614x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2615 vs 2615" + }, + "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_1093/check.txt b/N032/stretch3/dr_off/seed_1093/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..c4d655883927b90459c752b9c0edc62e0842d0dc --- /dev/null +++ b/N032/stretch3/dr_off/seed_1093/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_str_off_1093/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_str_off_1093/out/rec/stationpuzzlestretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2615 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: 2615 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 2615 at dataset fps 25 = 104.60 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2615 rows vs ceil(5229/2) = 2615 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5329, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 26.27 MB, 2615 frames at 25 fps, mean luma 116..156, std 12, new picture 2614x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2615 vs 2615 +[PASS] video observation.images.wrist decodes, 640x480, not black: 56.88 MB, 2615 frames at 25 fps, mean luma 110..171, std 29, new picture 2614x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2615 vs 2615 +parquet size 4.23 MB +[PASS] sim_info present: rec/stationpuzzlestretch/000/sim_info +dataset size 87.59 MB; whole cell dir 89.5 MB +RESULT: ALL PASS diff --git a/N032/stretch3/dr_off/seed_1093/rec/stationpuzzlestretch/000/completed/0.json b/N032/stretch3/dr_off/seed_1093/rec/stationpuzzlestretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..2b614a937da99960d58d2a321fefcbc4aa6cfa5e --- /dev/null +++ b/N032/stretch3/dr_off/seed_1093/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_1093/rec/stationpuzzlestretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/stretch3/dr_off/seed_1093/rec/stationpuzzlestretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..53444555016abb86740bf888d1db9c7ed41d9598 --- /dev/null +++ b/N032/stretch3/dr_off/seed_1093/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:e0525c7df21e341542dd29a38635200f7e60c54b96147763546965972000168a +size 4230336 diff --git a/N032/stretch3/dr_off/seed_1093/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes.jsonl b/N032/stretch3/dr_off/seed_1093/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..35f9ef4142edb732a59babd72cdc17eb0114da18 --- /dev/null +++ b/N032/stretch3/dr_off/seed_1093/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": 2615, "magicsim/control_steps": 5229, "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 right 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 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 to the left of the gray table B. The scene is viewed from front, slightly above table height."} diff --git a/N032/stretch3/dr_off/seed_1093/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/stretch3/dr_off/seed_1093/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b8849c0f658250aa6d469d8bf4d00519ff5b5a50 --- /dev/null +++ b/N032/stretch3/dr_off/seed_1093/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.03274518078331966, 0.0, 0.021547808647369448, 0.3462169990456355, 0.38926311413656, 0.7196634622080604, -0.3155353465277557, -0.009431145566380616, -0.061855237287747, 0.045785546260057854, 0.39349904397705543], "std": [0.18227186109093005, 0.0, 0.22188376336436846, 1.2452041883614653, 1.5898759829507247, 0.14357625833055374, 0.5004475963839159, 0.3285083076143222, 0.37338231870178157, 0.6297984439124785, 0.4885258911932924], 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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 right 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 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 to the left of 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]ile]\n\n\n\n [picture cap]\n [board 4]\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": 3.1803465077720747, + "support": null + }, + "generic_instruction": "Stationpuzzlestretch the 3.1803465077720747.", + "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_1093/rec/stationpuzzlestretch/000/lerobot_v21/meta/info.json 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0.009, + 0.062939, + 0.056398 + ], + "ori": [ + -170.0021, + 0.0, + -179.9998 + ], + "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": 1414.8, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 42.0 + } +} diff --git a/N033/go2_arm/dr_off/seed_1050/check.json b/N033/go2_arm/dr_off/seed_1050/check.json new file mode 100644 index 0000000000000000000000000000000000000000..42db19a6e8fc6f2aec3359d6627e3bd1c2921b5d --- /dev/null +++ b/N033/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: '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": "1401 rows vs ceil(2801/2) = 1401" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..2901, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "11.22 MB, 1401 frames at 25 fps, mean luma 105..144, std 18, new picture 1400x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1401 vs 1401" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "23.87 MB, 1401 frames at 25 fps, mean luma 109..176, std 28, new picture 1400x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1401 vs 1401" + }, + "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_1050/check.txt b/N033/go2_arm/dr_off/seed_1050/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..ad5b165863504699caede69a6ae06052409ffb9c --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1050/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_go2_off_1050/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_go2_off_1050/out/rec/stationring/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1401 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: 1401 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 1401 at dataset fps 25 = 56.04 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1401 rows vs ceil(2801/2) = 1401 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..2901, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 11.22 MB, 1401 frames at 25 fps, mean luma 105..144, std 18, new picture 1400x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1401 vs 1401 +[PASS] video observation.images.wrist decodes, 640x480, not black: 23.87 MB, 1401 frames at 25 fps, mean luma 109..176, std 28, new picture 1400x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1401 vs 1401 +parquet size 4.82 MB +[PASS] sim_info present: rec/stationring/000/sim_info +dataset size 40.19 MB; whole cell dir 41.6 MB +RESULT: ALL PASS diff --git a/N033/go2_arm/dr_off/seed_1050/rec/stationring/000/completed/0.json b/N033/go2_arm/dr_off/seed_1050/rec/stationring/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..c24e4e92ce410caf19b3ef731d95205d50917856 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1050/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_1050/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/go2_arm/dr_off/seed_1050/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..29146ca2a9ed8ea4e20cb541d38858fb237edbef --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1050/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:81e53d4ea833067e1fbf059ece2e9d76f5f6b59ef4157334c342327db5b162ea +size 4819284 diff --git a/N033/go2_arm/dr_off/seed_1050/rec/stationring/000/lerobot_v21/meta/episodes.jsonl b/N033/go2_arm/dr_off/seed_1050/rec/stationring/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9f2729a3ed5b72ebb073c56d48dbf8dca5eaa9b5 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1050/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": 1401, "magicsim/control_steps": 2801, "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_off/seed_1050/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/go2_arm/dr_off/seed_1050/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e78b0bf5f11358891f105a0d9ee0a3e7f207e933 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1050/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.1430521642418311, -9.483505548280448e-05, 0.029472921275135545, 0.35296105060043037, 0.44276139376250273, 0.5578970650236237, 0.6908460519383585, 0.1691883141912791, -0.5150022235280867, 0.7851958406728816, 0.11904321173917261, 0.5132048536759457], "std": [0.16141834327358964, 0.019892044555828898, 0.2607487822943043, 0.015723304784327208, 1.3751262095254158, 1.7085203647494125, 0.03730286960387888, 0.048780920591179645, 0.23186640743383855, 0.1217925662639768, 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"name": "wrist", + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 3.7300955721348448, + 0.5576203215006413, + -0.3397497110322648 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + 0.017356943317221596, + -0.9998337334638687, + 0.005589449560045617 + ], + [ + -0.9382601518788614, + -0.014355819960515381, + 0.34563246061317376 + ], + [ + -0.3454947523696107, + -0.011243480820582297, + -0.9383533237667454 + ] + ], + "t": [ + 0.006333551580298355, + -0.08611861262827436, + 0.017148138726427706 + ] + } + } + ], + "robots": [ + { + "name": "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": 1.563658486577772, + "support": null + }, + "generic_instruction": "Stationring the 1.563658486577772.", + "task_id": "N033", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0512": { + "frame_idx": 512, + "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_0539": { + "frame_idx": 539, + "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_0680": { + "frame_idx": 680, + "caption": "Working on the small ring; the right gripper is below and to the left 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" + ] + }, + "frame_0686": { + "frame_idx": 686, + "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_0815": { + "frame_idx": 815, + "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_0830": { + "frame_idx": 830, + "caption": "Pre-grasping the small ring, servoing 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": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0831": { + "frame_idx": 831, + "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_0856": { + "frame_idx": 856, + "caption": "Pre-grasping the small ring, moving the arm toward it; the right gripper is below and to the left 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" + ] + }, + "frame_0884": { + "frame_idx": 884, + "caption": "Grasping the small ring, moving the arm in to make contact; the right gripper is below and to the left of the ring.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_0946": { + "frame_idx": 946, + "caption": "Closing the right gripper on the ring; the right gripper is below and to the left of the ring.", + "skill": "Grasp", + "phase": "close_gripper", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1006": { + "frame_idx": 1006, + "caption": "Lifting the ring away with the gripper; the right gripper is below and to the left of the ring.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "ParallelGripper", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1007": { + "frame_idx": 1007, + "caption": "Lifting the ring away with the arm; the right gripper is below and to the left of the ring.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1067": { + "frame_idx": 1067, + "caption": "Done — the small ring is grasped; the right gripper is below and to the left of the ring.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + } + } + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git 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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 + } + } + } +} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1050/rec/stationring/000/lerobot_v21/meta/magicsim_manifest.json b/N033/go2_arm/dr_off/seed_1050/rec/stationring/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..ead32afd2c28e8faeef5b69dbe315a6a4d87c107 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1050/rec/stationring/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,290 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 11:19:06" + }, + "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", + 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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": 764.6, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 19.4 + } +} diff --git a/N033/go2_arm/dr_on/seed_2053/check.json b/N033/go2_arm/dr_on/seed_2053/check.json new file mode 100644 index 0000000000000000000000000000000000000000..0f3cda9353ea039003530e449816e62e6dd073d6 --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2053/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": "1473 rows vs ceil(2946/2) = 1473" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..3045, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "29.48 MB, 1473 frames at 25 fps, mean luma 75..105, std 27, new picture 1472x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1473 vs 1473" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "27.62 MB, 1473 frames at 25 fps, mean luma 107..164, std 35, new picture 1472x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1473 vs 1473" + }, + "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_2053/check.txt b/N033/go2_arm/dr_on/seed_2053/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..929d8350c64abdac5793cdfab4e72c5b6c94d6f5 --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2053/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_go2_on_2053/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_go2_on_2053/out/rec/stationring/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1473 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: 1473 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 1473 at dataset fps 25 = 58.92 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1473 rows vs ceil(2946/2) = 1473 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..3045, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 29.48 MB, 1473 frames at 25 fps, mean luma 75..105, std 27, new picture 1472x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1473 vs 1473 +[PASS] video observation.images.wrist decodes, 640x480, not black: 27.62 MB, 1473 frames at 25 fps, mean luma 107..164, std 35, new picture 1472x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1473 vs 1473 +parquet size 4.90 MB +[PASS] sim_info present: rec/stationring/000/sim_info +dataset size 62.28 MB; whole cell dir 63.8 MB +RESULT: ALL PASS diff --git a/N033/go2_arm/dr_on/seed_2053/rec/stationring/000/completed/0.json b/N033/go2_arm/dr_on/seed_2053/rec/stationring/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..c24e4e92ce410caf19b3ef731d95205d50917856 --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2053/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_2053/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/go2_arm/dr_on/seed_2053/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..08e387eba304eb21988b35fe61ba246b783fc58a --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2053/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:d1f80df40b85cd5f2867089d933336273e3410d87cb90d247221f4e09d2bb43b +size 4898610 diff --git a/N033/go2_arm/dr_on/seed_2053/rec/stationring/000/lerobot_v21/meta/episodes.jsonl b/N033/go2_arm/dr_on/seed_2053/rec/stationring/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a3c31319bd244390bd0567c3717b14fc65dfdcf9 --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2053/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": 1473, "magicsim/control_steps": 2946, "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 to the right 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_2053/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/go2_arm/dr_on/seed_2053/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..18f9809d53626b183b2b6f1333cfc286f58781a1 --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2053/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.13844703443510267, -0.002379982060141411, 0.020425383465646565, 0.35545807186633005, 0.5387511666805989, 0.7383173213916333, 0.7014777163057528, 0.10060759225590894, -0.5466439947233018, 0.7924817951860188, 0.0713603686638055, 0.48879837067209775], "std": [0.16097384238777207, 0.02108952151890828, 0.25355785637167266, 0.01820151989997951, 1.2977641849572787, 1.8611473167795172, 0.046293613655349446, 0.014744896336963263, 0.2099411731117394, 0.11332195443422295, 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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 to the right 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": 1.4784368620664226, + "support": null + }, + "generic_instruction": "Stationring the 1.4784368620664226.", + "task_id": "N033", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0546": { + "frame_idx": 546, + "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_0572": { + "frame_idx": 572, + "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_0703": { + "frame_idx": 703, + "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_0730": { + "frame_idx": 730, + "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_0845": { + "frame_idx": 845, + "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_0859": { + "frame_idx": 859, + "caption": "Pre-grasping the small ring, servoing 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": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0860": { + "frame_idx": 860, + "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_0878": { + "frame_idx": 878, + "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_0897": { + "frame_idx": 897, + "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_0913": { + "frame_idx": 913, + "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_0975": { + "frame_idx": 975, + "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_1035": { + "frame_idx": 1035, + "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_1036": { + "frame_idx": 1036, + "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_1096": { + "frame_idx": 1096, + "caption": "Done — the small ring is grasped; the right gripper is below the ring.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + } + } + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + 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"/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": 1117.5, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 27.5 + } +} diff --git a/N033/sawyer_umi/dr_off/seed_1054/check.json b/N033/sawyer_umi/dr_off/seed_1054/check.json new file mode 100644 index 0000000000000000000000000000000000000000..9e2f9078b3baf6e8cd85726b6842fc350521d138 --- /dev/null +++ b/N033/sawyer_umi/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', '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": "2175 rows vs ceil(4350/2) = 2175" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4449, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "26.87 MB, 2175 frames at 25 fps, mean luma 98..149, std 26, new picture 2174x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2175 vs 2175" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "37.85 MB, 2175 frames at 25 fps, mean luma 105..150, std 23, new picture 2174x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2175 vs 2175" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationringxr/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N033/sawyer_umi/dr_off/seed_1054/check.txt b/N033/sawyer_umi/dr_off/seed_1054/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..5577d8b648d8caded6402ad844e1123bad9cde26 --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1054/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_saw_off_1054/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_saw_off_1054/out/rec/stationringxr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2175 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: 2175 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 2175 at dataset fps 25 = 87.00 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2175 rows vs ceil(4350/2) = 2175 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4449, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 26.87 MB, 2175 frames at 25 fps, mean luma 98..149, std 26, new picture 2174x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2175 vs 2175 +[PASS] video observation.images.wrist decodes, 640x480, not black: 37.85 MB, 2175 frames at 25 fps, mean luma 105..150, std 23, new picture 2174x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2175 vs 2175 +parquet size 2.64 MB +[PASS] sim_info present: rec/stationringxr/000/sim_info +dataset size 67.56 MB; whole cell dir 68.9 MB +RESULT: ALL PASS diff --git a/N033/sawyer_umi/dr_off/seed_1054/rec/stationringxr/000/completed/0.json b/N033/sawyer_umi/dr_off/seed_1054/rec/stationringxr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..91a50a443cc1602752f4a6179432b21f7f41bb42 --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1054/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_off/seed_1054/rec/stationringxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/sawyer_umi/dr_off/seed_1054/rec/stationringxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..9545fa4cf65f0e186f2b268dd4b158ee85227954 --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1054/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:d3b2ec55f08fb383a434716a69b23db89fd7520a95fc025d3580bcf881f976f0 +size 2638969 diff --git a/N033/sawyer_umi/dr_off/seed_1054/rec/stationringxr/000/lerobot_v21/meta/episodes.jsonl b/N033/sawyer_umi/dr_off/seed_1054/rec/stationringxr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ef4615183f8ed00a3e6a7e5ab94b7d1a63814cf5 --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1054/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": 2175, "magicsim/control_steps": 4350, "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 behind 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_off/seed_1054/rec/stationringxr/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/sawyer_umi/dr_off/seed_1054/rec/stationringxr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..baa8ea66912f39c6463ca926cf9f802429f55ffd --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1054/rec/stationringxr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.0860760292830481, -0.0014367136008095467, 0.0073691541189595455, 0.3750435764899199, 0.7947205634774833, 1.0468893271753157, -0.2416095554828644, -0.07973969631153961, -0.2606808666970538, 0.177793189863107, 0.4611494252873563], "std": [0.11851549292122575, 0.008723948848397313, 0.15383901515023232, 1.4442486105148424, 1.5574330308943996, 0.20371834465227218, 0.6105040331176756, 0.11847854720276864, 0.5354772698156008, 0.402756910510995, 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"subject": "table_B_1", + "relation": "behind", + "object": "rod_stop_1" + }, + { + "subject": "rack_back_1", + "relation": "in_front_of", + "object": "peg_2_1" + }, + { + "subject": "peg_2_1", + "relation": "on_top_of", + "object": "ring_1" + }, + { + "subject": "rod_h_1", + "relation": "right_of", + "object": "rod_s_1" + }, + { + "subject": "rod_s_1", + "relation": "on_top_of", + "object": "rod_stop_1" + }, + { + "subject": "rod_s_1", + "relation": "right_of", + "object": "rod_stop_1" + }, + { + "subject": "rod_stop_1", + "relation": "left_of", + "object": "rod_s_1" + } + ], + "cameras": [ + { + "name": "head", + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 4.261290918397342, + -0.8974731030350936, + -0.09499995623247784 + ], + "viewpoint": "front, at table height", + "extrinsics": { + 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"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 behind 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]h]\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": 1.533468923472002, + "support": null + }, + "generic_instruction": "Stationringxr the 1.533468923472002.", + "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_off/seed_1054/rec/stationringxr/000/lerobot_v21/meta/info.json b/N033/sawyer_umi/dr_off/seed_1054/rec/stationringxr/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ef5236f6049d96f9dd599fdf04605378c94b96bc --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1054/rec/stationringxr/000/lerobot_v21/meta/info.json @@ -0,0 +1,317 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 2175, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 11 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 15 + ], + "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", + "gripper_0", + "gripper_1" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 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" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 70 + ], + "names": [ + "object_pose.peg_1.0", + "object_pose.peg_1.1", + "object_pose.peg_1.2", + "object_pose.peg_1.3", + "object_pose.peg_1.4", + "object_pose.peg_1.5", + "object_pose.peg_1.6", + "object_pose.peg_2.0", + "object_pose.peg_2.1", + "object_pose.peg_2.2", + "object_pose.peg_2.3", + "object_pose.peg_2.4", + "object_pose.peg_2.5", + "object_pose.peg_2.6", + "object_pose.rack_back.0", + "object_pose.rack_back.1", + "object_pose.rack_back.2", + "object_pose.rack_back.3", + "object_pose.rack_back.4", + "object_pose.rack_back.5", + "object_pose.rack_back.6", + "object_pose.ring.0", + "object_pose.ring.1", + "object_pose.ring.2", + "object_pose.ring.3", + "object_pose.ring.4", + "object_pose.ring.5", + "object_pose.ring.6", + "object_pose.ring_small.0", + "object_pose.ring_small.1", + "object_pose.ring_small.2", + "object_pose.ring_small.3", + 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"object_pose.table_B.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 864 + ], + "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": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + 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a/N033/sawyer_umi/dr_off/seed_1054/rec/stationringxr/000/lerobot_v21/meta/magicsim_manifest.json b/N033/sawyer_umi/dr_off/seed_1054/rec/stationringxr/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..5e140a20cd050f8945cc9bb84343b4a86d8b5d88 --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1054/rec/stationringxr/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,264 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 11:27:13" + }, + "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, + 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+ "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": 1221.3, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 31.6 + } +} diff --git a/N033/sawyer_umi/dr_on/seed_2055/check.json b/N033/sawyer_umi/dr_on/seed_2055/check.json new file mode 100644 index 0000000000000000000000000000000000000000..1b09f04117bafd6a8ba399e0a93b45b33a612e1a --- /dev/null +++ b/N033/sawyer_umi/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', '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": "2170 rows vs ceil(4339/2) = 2170" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4439, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "49.99 MB, 2170 frames at 25 fps, mean luma 89..143, std 35, new picture 2169x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2170 vs 2170" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "47.46 MB, 2170 frames at 25 fps, mean luma 97..148, std 28, new picture 2169x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2170 vs 2170" + }, + "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_2055/check.txt b/N033/sawyer_umi/dr_on/seed_2055/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..acb854c55882d33c01d116197481aab4536cd0b7 --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2055/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_saw_on_2055/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_saw_on_2055/out/rec/stationringxr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2170 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: 2170 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 2170 at dataset fps 25 = 86.80 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2170 rows vs ceil(4339/2) = 2170 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4439, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 49.99 MB, 2170 frames at 25 fps, mean luma 89..143, std 35, new picture 2169x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2170 vs 2170 +[PASS] video observation.images.wrist decodes, 640x480, not black: 47.46 MB, 2170 frames at 25 fps, mean luma 97..148, std 28, new picture 2169x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2170 vs 2170 +parquet size 2.57 MB +[PASS] sim_info present: rec/stationringxr/000/sim_info +dataset size 100.22 MB; whole cell dir 101.5 MB +RESULT: ALL PASS diff --git a/N033/sawyer_umi/dr_on/seed_2055/rec/stationringxr/000/completed/0.json b/N033/sawyer_umi/dr_on/seed_2055/rec/stationringxr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..91a50a443cc1602752f4a6179432b21f7f41bb42 --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2055/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_2055/rec/stationringxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/sawyer_umi/dr_on/seed_2055/rec/stationringxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..48a78b3bd49c8eac95861c67a72f27a3be0f6ac5 --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2055/rec/stationringxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:21b6eb799936111246440b5d8605541dab9585a0ecf8ca8d9fbc396de54e8cbf +size 2566005 diff --git a/N033/sawyer_umi/dr_on/seed_2055/rec/stationringxr/000/lerobot_v21/meta/episodes.jsonl b/N033/sawyer_umi/dr_on/seed_2055/rec/stationringxr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bb950c9b776f27710f91d7d3351653766801dd2d --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2055/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": 2170, "magicsim/control_steps": 4339, "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 behind the brown rod stop. The brown rack back is to the right 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-right, at table height."} diff --git a/N033/sawyer_umi/dr_on/seed_2055/rec/stationringxr/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/sawyer_umi/dr_on/seed_2055/rec/stationringxr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1ab49e216bd5f5140b316f9466db2429474ee162 --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2055/rec/stationringxr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.08434512528165969, -7.212992354128768e-05, 0.007350219789439649, 0.4834033366927903, 0.8871114856602135, 1.0471197380722943, -0.23855411386984285, -0.07084361852623076, -0.25657768349425036, 0.16922740067874645, 0.45852534562211983], "std": [0.11850542575108712, 0.012823353442329035, 0.1630509913900303, 1.3678292451951575, 1.500861844829266, 0.2042531699093213, 0.6160606652144687, 0.12518598410695592, 0.5360140572892077, 0.4013596465255607, 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+ "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 behind the brown rod stop. The brown rack back is to the right 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-right, 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": 1.5106780419041388, + "support": null + }, + "generic_instruction": "Stationringxr the 1.5106780419041388.", + "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_2055/rec/stationringxr/000/lerobot_v21/meta/info.json 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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": 1126.3, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 36.0 + } +} diff --git a/N033/stretch3/dr_off/seed_1063/check.json b/N033/stretch3/dr_off/seed_1063/check.json new file mode 100644 index 0000000000000000000000000000000000000000..f1ccf53e6f07a33be28c8d31973598c07ccec9a4 --- /dev/null +++ b/N033/stretch3/dr_off/seed_1063/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 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": "2492 rows vs ceil(4984/2) = 2492" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5083, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "22.63 MB, 2492 frames at 25 fps, mean luma 102..155, std 12, new picture 2491x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2492 vs 2492" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "51.39 MB, 2492 frames at 25 fps, mean luma 113..156, std 28, new picture 2491x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2492 vs 2492" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationringstretch/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N033/stretch3/dr_off/seed_1063/check.txt b/N033/stretch3/dr_off/seed_1063/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..78d2de9075f2263157b84739b0a7c6dad8d8e809 --- /dev/null +++ b/N033/stretch3/dr_off/seed_1063/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_str_off_1063/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_str_off_1063/out/rec/stationringstretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2492 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: 2492 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 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 2492 at dataset fps 25 = 99.68 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2492 rows vs ceil(4984/2) = 2492 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5083, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 22.63 MB, 2492 frames at 25 fps, mean luma 102..155, std 12, new picture 2491x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2492 vs 2492 +[PASS] video observation.images.wrist decodes, 640x480, not black: 51.39 MB, 2492 frames at 25 fps, mean luma 113..156, std 28, new picture 2491x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2492 vs 2492 +parquet size 3.94 MB +[PASS] sim_info present: rec/stationringstretch/000/sim_info +dataset size 78.18 MB; whole cell dir 79.9 MB +RESULT: ALL PASS diff --git a/N033/stretch3/dr_off/seed_1063/rec/stationringstretch/000/completed/0.json b/N033/stretch3/dr_off/seed_1063/rec/stationringstretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..fd3e4ff594cda366fc3a512d000e9a5e190a83f8 --- /dev/null +++ b/N033/stretch3/dr_off/seed_1063/rec/stationringstretch/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationringstretch/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/stretch3/dr_off/seed_1063/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/stretch3/dr_off/seed_1063/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..0519fbe91b66b185182fc2f7079e80d1e282a13b --- /dev/null +++ b/N033/stretch3/dr_off/seed_1063/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3780aa1d114cdbb57cdb4da011c26eb30a8c455c3229a5caf4fa6dccb9e5c19c +size 3936707 diff --git a/N033/stretch3/dr_off/seed_1063/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl b/N033/stretch3/dr_off/seed_1063/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ec643bfa4caa760aaa146436ce2848db343a0a42 --- /dev/null +++ b/N033/stretch3/dr_off/seed_1063/rec/stationringstretch/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": 2492, "magicsim/control_steps": 4984, "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 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 to the left of the gray peg 1. 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, slightly above table height."} diff --git a/N033/stretch3/dr_off/seed_1063/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/stretch3/dr_off/seed_1063/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f4db17248cf1d350e67f31dae6c271c290ca390e --- /dev/null +++ b/N033/stretch3/dr_off/seed_1063/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.04677637825110093, 0.0, 0.026451740724656485, 0.5846810470847936, 0.8960091440368856, 0.7467612950176145, -0.2224326567452182, 0.11572967321540799, -0.02358427677323888, -0.14317529590540293, 0.4983948635634029], "std": [0.14061570672753482, 0.0, 0.2563297097911994, 1.2906057711721886, 1.7441677856242195, 0.10279147604230039, 0.5189244737114401, 0.4408570756125977, 0.3716866825365821, 0.5606124205532167, 0.4999974235303684], "min": 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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 to the left of the gray peg 1. 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, slightly above 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": "StationRingStretch", + "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": 3.153771850900628, + "support": null + }, + "generic_instruction": "Stationringstretch the 3.153771850900628.", + "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/stretch3/dr_off/seed_1063/rec/stationringstretch/000/lerobot_v21/meta/info.json 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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": 1218.5, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 38.7 + } +} diff --git a/N033/stretch3/dr_on/seed_2074/check.json b/N033/stretch3/dr_on/seed_2074/check.json new file mode 100644 index 0000000000000000000000000000000000000000..8c9316cc6c1d0b1525d697b818af8a6c498d4d32 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2074/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 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": "2171 rows vs ceil(4342/2) = 2171" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4441, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "34.67 MB, 2171 frames at 25 fps, mean luma 125..157, std 21, new picture 2170x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2171 vs 2171" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "40.95 MB, 2171 frames at 25 fps, mean luma 91..151, std 36, new picture 2170x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2171 vs 2171" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationringstretch/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N033/stretch3/dr_on/seed_2074/check.txt b/N033/stretch3/dr_on/seed_2074/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..51ffb0ee7b2438a50772d5a43073dd553e0008be --- /dev/null +++ b/N033/stretch3/dr_on/seed_2074/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_str_on_2074/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_str_on_2074/out/rec/stationringstretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2171 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: 2171 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 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 2171 at dataset fps 25 = 86.84 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2171 rows vs ceil(4342/2) = 2171 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4441, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 34.67 MB, 2171 frames at 25 fps, mean luma 125..157, std 21, new picture 2170x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2171 vs 2171 +[PASS] video observation.images.wrist decodes, 640x480, not black: 40.95 MB, 2171 frames at 25 fps, mean luma 91..151, std 36, new picture 2170x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2171 vs 2171 +parquet size 3.27 MB +[PASS] sim_info present: rec/stationringstretch/000/sim_info +dataset size 79.11 MB; whole cell dir 80.6 MB +RESULT: ALL PASS diff --git a/N033/stretch3/dr_on/seed_2074/rec/stationringstretch/000/completed/0.json b/N033/stretch3/dr_on/seed_2074/rec/stationringstretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..fd3e4ff594cda366fc3a512d000e9a5e190a83f8 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2074/rec/stationringstretch/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationringstretch/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/stretch3/dr_on/seed_2074/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/stretch3/dr_on/seed_2074/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..1109246a4fa7be9a9df14b70958515e44936bf38 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2074/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8597ea56de0e56f508d39dc21aea8bf559bddeee7c43e4732759582f82877b0c +size 3274088 diff --git a/N033/stretch3/dr_on/seed_2074/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl b/N033/stretch3/dr_on/seed_2074/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..de991aaf5d8ccdeffb7df12e215ed9a254984679 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2074/rec/stationringstretch/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": 2171, "magicsim/control_steps": 4342, "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 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 to the left of the gray peg 1. 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, slightly above table height."} diff --git a/N033/stretch3/dr_on/seed_2074/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/stretch3/dr_on/seed_2074/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a6ecdf89327ca0566afb8fb392e81e6fff954e3b --- /dev/null +++ b/N033/stretch3/dr_on/seed_2074/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [-0.011823725497984133, 0.0, 0.030942961777796783, 0.40833634463962953, 0.6697134421078744, 0.7426072822798786, -0.335007611877928, -0.03744331374557413, -0.10759735537015638, 0.017780657607586074, 0.4306771073238139], "std": [0.15752158768047195, 0.0, 0.19329085923696074, 1.3781319330720816, 1.6794735733192765, 0.10061443795586146, 0.5426713586632865, 0.3562022060047378, 0.4295302103567081, 0.5182722126597927, 0.49517101747881637], 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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 to the left of the gray peg 1. 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, slightly above 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": "StationRingStretch", + "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": 3.1218701374599807, + "support": null + }, + "generic_instruction": "Stationringstretch the 3.1218701374599807.", + "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/stretch3/dr_on/seed_2074/rec/stationringstretch/000/lerobot_v21/meta/info.json 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"manipulation_success": true + }, + "route": [ + "A", + "B" + ], + "total_path_m": 7.68, + "planner_seeds": "default" + } + ], + "error": null, + "collect": { + "task": "N033", + "robot": "stretch3", + "visual_dr": true, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N033", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "1" + }, + "cameras": { + "head": { + "link": "Robot_0/base_link", + "pos": [ + 0.049771, + -0.002942, + 1.295723 + ], + "ori": [ + 0.0002, + -55.623, + -90.0 + ], + "focal_length": 2.73834228515625, + "horizontal_aperture": 2.1600000858306885, + "vertical_aperture": 1.62 + }, + "wrist": { + "link": "Robot_0/link_gripper_s3_body", + "pos": [ + 0.009, + 0.062939, + 0.056398 + ], + "ori": [ + -170.0021, + 0.0, + -179.9998 + ], + "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": 2227.0, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 55.7 + } +} diff --git a/N033/stretch3/dr_on/seed_2075/check.json b/N033/stretch3/dr_on/seed_2075/check.json new file mode 100644 index 0000000000000000000000000000000000000000..fd620f758522eda33e74c7973b3596a0fbf6e49c --- /dev/null +++ b/N033/stretch3/dr_on/seed_2075/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 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": "2154 rows vs ceil(4308/2) = 2154" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4407, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "53.19 MB, 2154 frames at 25 fps, mean luma 83..127, std 16, new picture 2153x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2154 vs 2154" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "64.42 MB, 2154 frames at 25 fps, mean luma 72..145, std 33, new picture 2153x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2154 vs 2154" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationringstretch/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N033/stretch3/dr_on/seed_2075/check.txt b/N033/stretch3/dr_on/seed_2075/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..cf075ad34832c4e68ab4c6621ed2fea1e46a9ddd --- /dev/null +++ b/N033/stretch3/dr_on/seed_2075/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_str_on_2075/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_str_on_2075/out/rec/stationringstretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2154 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: 2154 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 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 2154 at dataset fps 25 = 86.16 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2154 rows vs ceil(4308/2) = 2154 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4407, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 53.19 MB, 2154 frames at 25 fps, mean luma 83..127, std 16, new picture 2153x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2154 vs 2154 +[PASS] video observation.images.wrist decodes, 640x480, not black: 64.42 MB, 2154 frames at 25 fps, mean luma 72..145, std 33, new picture 2153x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2154 vs 2154 +parquet size 3.07 MB +[PASS] sim_info present: rec/stationringstretch/000/sim_info +dataset size 120.92 MB; whole cell dir 122.4 MB +RESULT: ALL PASS diff --git a/N033/stretch3/dr_on/seed_2075/rec/stationringstretch/000/completed/0.json b/N033/stretch3/dr_on/seed_2075/rec/stationringstretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..fd3e4ff594cda366fc3a512d000e9a5e190a83f8 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2075/rec/stationringstretch/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationringstretch/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/stretch3/dr_on/seed_2075/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/stretch3/dr_on/seed_2075/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..eb3575586201b3c52e40aa7a289fc35035134c41 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2075/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8fbfe99661e330eb10f6004d7781547948e5d7d549c151f2769e3a52a958ec7c +size 3073475 diff --git a/N033/stretch3/dr_on/seed_2075/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl b/N033/stretch3/dr_on/seed_2075/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eb44094765cada0e7a7864115a686c41b2981182 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2075/rec/stationringstretch/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": 2154, "magicsim/control_steps": 4308, "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 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 behind the brown rod stop. The brown rack back is to the right 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 behind the brown rod stop. The brown rod stop is in front of the white rod s. The scene is viewed from front, slightly above table height."} diff --git a/N033/stretch3/dr_on/seed_2075/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/stretch3/dr_on/seed_2075/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..37f11ae6f7c9980ef9670a8bb084e7ff8bf96baf --- /dev/null +++ b/N033/stretch3/dr_on/seed_2075/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [-0.022689715707925398, 0.0, 0.02399201725977979, 0.2864619549277378, 0.9449772801848618, 0.7412910456444892, -0.24581776805111347, -0.011943538499994676, -0.06655175030133646, -0.01947106057803943, 0.4428969359331476], "std": [0.15340159389194294, 0.0, 0.1902979754061058, 1.4254672475840378, 1.6603481001644622, 0.10339607521848711, 0.540079528452121, 0.3861247605258533, 0.4356708998745437, 0.5513939871136276, 0.4967285376080003], "min": 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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 behind the brown rod stop. The brown rack back is to the right 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 behind the brown rod stop. The brown rod stop is in front of the white rod s. The scene is viewed from front, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [rod stop]\n\n\n\n\n [ring small]\n\n\n[robot]" + }, + "task": { + "task_type": "StationRingStretch", + "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": 3.01077126145063, + "support": null + }, + "generic_instruction": "Stationringstretch the 3.01077126145063.", + "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/stretch3/dr_on/seed_2075/rec/stationringstretch/000/lerobot_v21/meta/info.json 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+ "collect": { + "task": "N033", + "robot": "stretch3", + "visual_dr": true, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N033", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "1" + }, + "cameras": { + "head": { + "link": "Robot_0/base_link", + "pos": [ + 0.049771, + -0.002942, + 1.295723 + ], + "ori": [ + 0.0002, + -55.623, + -90.0 + ], + "focal_length": 2.73834228515625, + "horizontal_aperture": 2.1600000858306885, + "vertical_aperture": 1.62 + }, + "wrist": { + "link": "Robot_0/link_gripper_s3_body", + "pos": [ + 0.009, + 0.062939, + 0.056398 + ], + "ori": [ + -170.0021, + 0.0, + -179.9998 + ], + "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": 1103.2, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 52.3 + } +} diff --git a/N034/sawyer_umi/dr_off/seed_1076/check.json b/N034/sawyer_umi/dr_off/seed_1076/check.json new file mode 100644 index 0000000000000000000000000000000000000000..4e08d0107659c3e9420b1de2e16dedd1450b0476 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1076/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: '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": "2190 rows vs ceil(4379/2) = 2190" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4479, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "23.94 MB, 2190 frames at 25 fps, mean luma 100..150, std 27, new picture 2189x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2190 vs 2190" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "37.30 MB, 2190 frames at 25 fps, mean luma 90..150, std 29, new picture 2189x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2190 vs 2190" + }, + "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_1076/check.txt b/N034/sawyer_umi/dr_off/seed_1076/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..35b0660ae965c2d45c73c2dbe2b5025974d64d67 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1076/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_saw_off_1076/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_saw_off_1076/out/rec/stationbookendxr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2190 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: 2190 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 2190 at dataset fps 25 = 87.60 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2190 rows vs ceil(4379/2) = 2190 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4479, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 23.94 MB, 2190 frames at 25 fps, mean luma 100..150, std 27, new picture 2189x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2190 vs 2190 +[PASS] video observation.images.wrist decodes, 640x480, not black: 37.30 MB, 2190 frames at 25 fps, mean luma 90..150, std 29, new picture 2189x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2190 vs 2190 +parquet size 2.58 MB +[PASS] sim_info present: rec/stationbookendxr/000/sim_info +dataset size 64.01 MB; whole cell dir 65.2 MB +RESULT: ALL PASS diff --git a/N034/sawyer_umi/dr_off/seed_1076/rec/stationbookendxr/000/completed/0.json b/N034/sawyer_umi/dr_off/seed_1076/rec/stationbookendxr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..2218f14552b5319a4951e60bfd54adf3df3cac5e --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1076/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_1076/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/sawyer_umi/dr_off/seed_1076/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..e696d71f71c8a6b56431a27d9e5c4a0f75b4c573 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1076/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a345ac336164644de39e7c4568a3cbe781f3c2928900a40f8e8c8fcee91f063 +size 2575367 diff --git a/N034/sawyer_umi/dr_off/seed_1076/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl b/N034/sawyer_umi/dr_off/seed_1076/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c6d9db7632d84e92702928fc05d13d079c94b3f6 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1076/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": 2190, "magicsim/control_steps": 4379, "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. 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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.", + "layout_ascii": " +x forward / +y left (top-down view)\n[[[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": 1.4625337999952546, + "support": null + }, + "generic_instruction": "Stationbookendxr the 1.4625337999952546.", + "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_1076/rec/stationbookendxr/000/lerobot_v21/meta/info.json b/N034/sawyer_umi/dr_off/seed_1076/rec/stationbookendxr/000/lerobot_v21/meta/info.json new 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+ ], + "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": 1005.8, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 24.1 + } +} diff --git a/N034/sawyer_umi/dr_on/seed_2067/check.json b/N034/sawyer_umi/dr_on/seed_2067/check.json new file mode 100644 index 0000000000000000000000000000000000000000..bb60afd234c74d16edd0b46a39bcb4f7449ebc0b --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2067/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: '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": "2178 rows vs ceil(4356/2) = 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": "42.33 MB, 2178 frames at 25 fps, mean luma 76..104, std 28, 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": "37.22 MB, 2178 frames at 25 fps, mean luma 60..118, std 29, 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/stationbookendxr/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_on/seed_2067/check.txt b/N034/sawyer_umi/dr_on/seed_2067/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..fb9c84d0ef7ee1a37700a87d47c3e5b2493dfc7a --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2067/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_saw_on_2067/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_saw_on_2067/out/rec/stationbookendxr/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: '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 2178 at dataset fps 25 = 87.12 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2178 rows vs ceil(4356/2) = 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: 42.33 MB, 2178 frames at 25 fps, mean luma 76..104, std 28, 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: 37.22 MB, 2178 frames at 25 fps, mean luma 60..118, std 29, new picture 2177x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2178 vs 2178 +parquet size 2.59 MB +[PASS] sim_info present: rec/stationbookendxr/000/sim_info +dataset size 82.34 MB; whole cell dir 83.6 MB +RESULT: ALL PASS diff --git a/N034/sawyer_umi/dr_on/seed_2067/rec/stationbookendxr/000/completed/0.json b/N034/sawyer_umi/dr_on/seed_2067/rec/stationbookendxr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..2218f14552b5319a4951e60bfd54adf3df3cac5e --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2067/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_on/seed_2067/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/sawyer_umi/dr_on/seed_2067/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..50f75e91189d0461a12c61bff9ff70d92368df43 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2067/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d13426c606111acdcf3c2baea28f485c0537da1f3423a371c41c9a22f233354 +size 2590572 diff --git a/N034/sawyer_umi/dr_on/seed_2067/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl b/N034/sawyer_umi/dr_on/seed_2067/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..23b5a0454cc817cda0cb042a2736ee81d38ed0c2 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2067/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": 2178, "magicsim/control_steps": 4356, "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 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/sawyer_umi/dr_on/seed_2067/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/sawyer_umi/dr_on/seed_2067/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..245ab383eea8a599c234228d93fe17a2848240e9 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2067/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.08628708829280567, -0.00016967945281481174, 0.007966742271863616, 0.5999423471117807, 0.9949005160641518, 0.9343695987573559, 0.057003996447002374, -0.5467599039166974, 0.11220190523849087, 0.7170585611197137, 0.6340679522497704], "std": [0.13193920929685815, 0.015513004732723101, 0.16354159744762306, 1.5496065201778444, 1.7266711166092856, 0.24851544818580595, 0.2444411881819684, 0.2288394025313053, 0.19124224995562786, 0.14949652901840318, 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"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 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 [ta[pl[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": 1.4472801388566947, + "support": null + }, + "generic_instruction": "Stationbookendxr the 1.4472801388566947.", + "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_on/seed_2067/rec/stationbookendxr/000/lerobot_v21/meta/info.json b/N034/sawyer_umi/dr_on/seed_2067/rec/stationbookendxr/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..202752edba794fbb1869aaeaaa453fecac72bb36 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2067/rec/stationbookendxr/000/lerobot_v21/meta/info.json @@ -0,0 +1,296 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 2178, + "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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